Forward kinematics of the general triple-arm robot using a distance-based formulation

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Title: Forward kinematics of the general triple-arm robot using a distance-based formulation
Authors: Rojas, N
Thomas, F
Item Type: Conference Paper
Abstract: Distance-based formulations have successfully been used to obt ain closure polynomials for planar mechanisms without relying, in most cases, on variab le eliminations. The methods re- sulting from previous attempts to generalize these techniques t o spatial mechanisms exhibit some limitations such as the impossibility of incorporating orient ation constraints. For the first time, this paper presents a complete satisfactory generalization. As an e xample, it is applied to obtain a clo- sure polynomial for the the general triple-arm parallel robot (that is , the 3-RP S 3-DOF robot). This polynomial, not linked to any particular reference frame, is obtai ned without variable eliminations or tangent-half-angle substitutions.
Issue Date: 22-May-2017
Date of Acceptance: 28-Feb-2017
Publisher: Springer
Conference Name: 7th IFToMM International Workshop on Computational Kinematics
Publication Status: Accepted
Start Date: 2017-05-22
Finish Date: 2017-05-24
Conference Place: Poitiers, France
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering

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