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An open-source toolbox for motion analysis of closed-chain mechanisms

Autor
Porta, J.; Ros, L.; Bohigas, O.; Manubens, M.; Rosales, C.; Jaillet, L.G.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
6th International Workshop on Computational Kinematics (CK)
Any de l'edició
2013
Data de presentació
2013
Llibre d'actes
Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)
Pàgina inicial
147
Pàgina final
154
Editor
Springer
Repositori
http://hdl.handle.net/2117/23201 Obrir en finestra nova
URL
http://dx.doi.org/10.1007/978-94-007-7214-4_17 Obrir en finestra nova
Resum
Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), there is a lack of general tools to effectively analyze the complex configuration spaces of such systems. This paper describes the CUIK suite, an open-source toolbox for motion analysis of general closed-chain mechanisms. The package can determine the motion range of the whole...
Citació
Porta, J.M. [et al.]. An open-source toolbox for motion analysis of closed-chain mechanisms. A: Computational Kinematics. "Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)". Barcelona: Springer, 2013, p. 147-154.
Paraules clau
Robots PARAULES AUTOR: kinematic constraints, branch-and prune, higher-dimensional continuation, motion analysis and planning
Grup de recerca
DCG - Discrete and Combinatorial Geometry
KRD - Cinemàtica i Disseny de Robots
SIR - Service and Industrial Robotics

Participants

  • Porta Pleite, Jose Maria  (autor ponent)
  • Ros Giralt, Lluis  (autor ponent)
  • Bohigas Nadal, Oriol  (autor ponent)
  • Manubens Ferriol, Montserrat  (autor ponent)
  • Rosales Gallegos, Carlos  (autor ponent)
  • Jaillet, Leonard Georges  (autor ponent)