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Título: | A distance geometry approach to the singularity analysis of 3R robots |
Autor: | Thomas, Federico CSIC ORCID | Palabras clave: | Cusps Singularities Coordinate-free formulations 3R robots Wrist-partitioned robots Nodes Distance geometry Cuspidal robots |
Fecha de publicación: | 2016 | Editor: | American Society of Mechanical Engineers | Citación: | Journal of Mechanisms and Robotics 8(1): 011001 (2016) | Resumen: | This paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective invariant and the basic projective geometric invariants are determinants, it is not surprising that, using distance geometry, the computation of the singularity locus of a 3R robot can be fully expressed in terms of determinants. Geometric invariants have the benefit of simplifying symbolic manipulations. This paper shows how their use leads to a simpler characterization, compared to previous approaches, of the cusps and nodes in the singularity loci of 3R robots. | Versión del editor: | https://doi.org/10.1115/1.4029500 | URI: | http://hdl.handle.net/10261/127518 | DOI: | 10.1115/1.4029500 | Identificadores: | doi: 10.1115/1.4029500 issn: 1942-4302 e-issn: 1942-4310 |
Aparece en las colecciones: | (IRII) Artículos |
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distance3Robot.pdf | 541,7 kB | Adobe PDF | Visualizar/Abrir |
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