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Título

The univariate closure conditions of all fully parallel planar robots derived from a single polynomial

Autor Rojas, Nicolás; Thomas, Federico
Palabras clave Forward kinematics
Position analysis
Planar Gough-Stewart platforms
Planar robots
Fecha de publicación 2013
EditorInstitute of Electrical and Electronics Engineers
Citación IEEE Transactions on Robotics 29(3): 758-765 (2013)
ResumenThe real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots can be derived directly from that of the widely known 3-RPR robot by simply formulating these polynomials in terms of distances and oriented areas. This is a relevant result because it avoids the case-by-case treatment that requires different sets of variable eliminations to obtain the univariate polynomial of each fully parallel planar robot. © 2004-2012 IEEE.
Versión del editorhttp://dx.doi.org/10.1109/TRO.2013.2242376
URI http://hdl.handle.net/10261/96465
DOI10.1109/TRO.2013.2242376
Identificadoresdoi: 10.1109/TRO.2013.2242376
issn: 1552-3098
e-issn: 1941-0468
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