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On the primal and dual forms of the Stewart platform pure condition

Autor
Borras, J.; Thomas, F.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2012
Volum
28
Número
6
Pàgina inicial
1205
Pàgina final
1215
DOI
https://doi.org/10.1109/TRO.2012.2204531 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/17431 Obrir en finestra nova
URL
http://dx.doi.org/10.1109/TRO.2012.2204531 Obrir en finestra nova
Resum
The algebraic characterization of the singularities of a Stewart platform is usually presented as a 6 × 6 determinant, whose rows correspond to the line coordinates of its legs, equated to zero. This expression can be rewritten in a more amenable way, known as the pure condition, as sums and products of 4×4 determinants whose rows correspond to the point coordinates of the legs attachments. Researchers usually rely on one of these two expressions to find the geometric conditions associated wit...
Citació
Borras, J.; Thomas, F. On the primal and dual forms of the Stewart platform pure condition. "IEEE transactions on robotics", 2012, vol. 28, núm. 6, p. 1205-1215.
Paraules clau
Stewart platform, automation PARAULES AUTOR: Grassman–Cayley algebra, pure condition, singularities
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

Participants