We propose to degenerate the kinematics of a mobile platform by letting the lengths of its legs tend to infinity. The rationale for this approach is that the degenerate situation is simpler to analyze and may provide relevant information for the kinematic analysis of the platform. We implement this approach in the framework of the Study model. We show its usefulness on the example of the general operation mode of the Tsai 3-UPU platform, whose kinematic analysis is rather difficult.
Degeneration to Infinity May Provide Information About Kinematics
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020
2020-07-18
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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