Inverse kinematics by distance matrix completion

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Título:	Inverse kinematics by distance matrix completion
Autor:	Porta, Josep M. CSIC ORCID ; Ros, Lluís CSIC ORCID ; Thomas, Federico CSIC ORCID
Palabras clave:	Cayley-Menger determinants Position analysis of robots Automation: Robots Robots Robotics
Fecha de publicación:	2005
Editor:	Elsevier
Citación:	12th International Workshop on Computational Kinematics: pp. 1-9 (2005),
Resumen:	This paper characterizes a family of serial robots whose inverse kinematics can be translated into a system of distance constraints that can be solved using a sequence of constructive operations taking as fixed reference either a triangle or a tetrahedron. The relevance of the obtained family of robots is established when it is shown to contain the best-known commercial serial robots.
Descripción:	International Workshop on Computational Kinematics (CK), 2005, Cassino (Italia)
URI:	http://hdl.handle.net/10261/30292
ISBN:	0094114X
Aparece en las colecciones:	(IRII) Comunicaciones congresos