Publication
Forward kinematics of the general triple-arm robot using a distance-based formulation
Conference Article
Conference
International Workshop on Computational Kinematics (CK)
Edition
7th
Pages
257-264
Doc link
http://dx.doi.org/10.1007/978-3-319-60867-9_29
File
Authors
Projects associated
Abstract
Distance-based formulations have successfully been used to obtain closure polynomialsfor planar mechanisms without relying, in most cases, on variable eliminations. The methods re-sulting from previous attempts to generalize these techniques to spatial mechanisms exhibit somelimitations such as the impossibility of incorporating orientation constraints. For the first time, thispaper presents a complete satisfactory generalization. As an example, it is applied to obtain a clo-sure polynomial for the the general triple-arm parallel robot (that is, the 3-RPS 3-DOF robot). Thispolynomial, not linked to any particular reference frame, is obtained without variable eliminationsor tangent-half-angle substitutions
Categories
robot kinematics.
Author keywords
Distance-based formulations, Forward kinematics, Triple-arm parallel robot
Scientific reference
N. Rojas and F. Thomas. Forward kinematics of the general triple-arm robot using a distance-based formulation, 7th International Workshop on Computational Kinematics, 2017, Futuroscope-Poitiers, France, in Computational Kinematics, Vol 50 of Mechanisms and Machine Science, pp. 257-264, 2018, Springer.
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