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The forward kinematics of 3-RPR planar robots: a review and a distance-based formulation

Autor
Rojas, N.E.; Thomas, F.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2011
Volum
27
Número
1
Pàgina inicial
143
Pàgina final
150
DOI
https://doi.org/10.1109/TRO.2010.2092251 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/12319 Obrir en finestra nova
Resum
The standard forward kinematics analysis of 3-RPR planar parallel robots boils down to computing the roots of a sextic polynomial. There are many different ways to obtain this polynomial but most of them include exceptions for which the formulation is not valid. Unfortunately, near these exceptions the corresponding polynomial exhibits numerical instabilities. In this paper, we provide a way around this inconvenience by translating the forward kinematics problem to be solved into an equivalent p...
Citació
Rojas, N.E.; Thomas, F. The forward kinematics of 3-RPR planar robots: a review and a distance-based formulation. "IEEE transactions on robotics", 2011, vol. 27, núm. 1, p. 143-150.
Paraules clau
3-RPR parallel robots, Bilateration, Cayley–Menger determinants, Coordinate-free formulations, Forward kinematics, Position analysis, Robot kinematics
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

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