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The CUIK suite: analyzing the motion closed-chain multibody systems

Autor
Porta, J.; Ros, L.; Bohigas, O.; Manubens, M.; Rosales, C.; Jaillet, L.G.
Tipus d'activitat
Article en revista
Revista
IEEE robotics and automation magazine
Data de publicació
2014
Volum
21
Número
3
Pàgina inicial
105
Pàgina final
114
DOI
https://doi.org/10.1109/MRA.2013.2287462 Obrir en finestra nova
Projecte finançador
DPI2010-18449 An Extension of Branch-and-Prune Techniques for Motion Analysis and Synthesis of Complex Robotic Systems
Superficies programables
Repositori
http://hdl.handle.net/2117/27365 Obrir en finestra nova
Resum
Many situations in robotics require the analysis of the motions of complex multibody systems. These are sets of articulated bodies arising in a variety of devices, including parallel manipulators, multifingered hands, or reconfigurable mechanisms, but they appear in other domains too as mechanical models of molecular compounds or nanostructures. Closed kinematic chains arise frequently in such systems, either due to their morphology or due to geometric or contact constraints to fulfill during op...
Citació
Porta, J.M. [et al.]. The CUIK suite: analyzing the motion closed-chain multibody systems. "IEEE robotics and automation magazine", 2014, vol. 21, núm. 3, p. 105-114.
Paraules clau
robots
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

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