Loading...
Loading...

Go to the content (press return)

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

Author
Porta, J.; Ros, L.; Bohigas, O.; Manubens, M.; Rosales, C.; Jaillet, L.G.
Type of activity
Presentation of work at congresses
Name of edition
6th International Workshop on Computational Kinematics (CK)
Date of publication
2013
Presentation's date
2013
Book of congress proceedings
Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)
First page
147
Last page
154
Publisher
Springer
Repository
http://hdl.handle.net/2117/23201 Open in new window
URL
http://dx.doi.org/10.1007/978-94-007-7214-4_17 Open in new window
Abstract
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...
Citation
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.
Keywords
Robots PARAULES AUTOR: kinematic constraints, branch-and prune, higher-dimensional continuation, motion analysis and planning
Group of research
DCG - Discrete and Combinatorial Geometry
KRD - Kinematics and Robot Design
SIR - Service and Industrial Robotics

Participants

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