On quartically-solvable robots

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Title: On quartically-solvable robots
Authors: N. Rojas
J. Borràs
F. Thomas
Item Type: Conference Paper
Abstract: This paper presents a first attempt at a unified kinematics analysis of all serial and parallel solvable robots, that is, robots whose position analysis can be carried out without relying on numerical methods. The efforts herein are focused on finding a unified formulation for all quartically-solvable robots, as all other solvable robots can be seen as particular cases of them. The first part is centered on the quest for the most general quartically-solvable parallel and serial robots. As a result, representatives of both classes are selected. Then, using Distance Geometry, it is shown how solving the forward kinematics of the parallel representative is equivalent to solve the inverse kinematics of the serial representative, thus providing a unified formulation. Finally, it is shown that the position and singularity analysis of these robots reduces to the analysis of the relative position of two coplanar ellipses.
Issue Date: 2-Jul-2015
Date of Acceptance: 26-May-2015
URI: http://hdl.handle.net/10044/1/44772
DOI: http://dx.doi.org/10.1109/ICRA.2015.7139374
ISSN: 1050-4729
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Start Page: 1410
End Page: 1415
Journal / Book Title: 2015 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement: © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Name: 2015 IEEE International Conference on Robotics and Automation (ICRA)
Start Date: 2015-05-26
Finish Date: 2015-05-30
Conference Place: Seattle, Washington, USA
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering

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