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

Author
Porta, J.; Ros, L.; Bohigas, O.; Manubens, M.; Rosales, C.; Jaillet, L.G.
Type of activity
Journal article
Journal
IEEE robotics and automation magazine
Date of publication
2014
Volume
21
Number
3
First page
105
Last page
114
DOI
https://doi.org/10.1109/MRA.2013.2287462 Open in new window
Project funding
DPI2010-18449 An Extension of Branch-and-Prune Techniques for Motion Analysis and Synthesis of Complex Robotic Systems
Superficies programables
Repository
http://hdl.handle.net/2117/27365 Open in new window
Abstract
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...
Citation
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.
Keywords
robots
Group of research
KRD - Kinematics and Robot Design

Participants

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