The final publication is available at link.springer.com ; 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 ; Peer Reviewed ; Postprint (author's final draft)
Forward kinematics of the general triple-arm robot using a distance-based formulation
2017-01-01
Sonstige
Elektronische Ressource
Englisch
DDC: | 629 |
The forward kinematics of 3-RPR planar robots: A review and a distance-based formulation
BASE | 2011
|The forward kinematics of 3-RPR planar robots: a review and a distance-based formulation
BASE | 2011
|Springer Verlag | 2022
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