Singularity set computation: A hands-on session with the CUIK suite

This chapter provides an introduction to the analysis of the singularities of robot mechanisms using the CUIK suite software. The CUIK suite is an open-source toolbox for motion analysis of general closed-chain mechanisms, resulting from several years of research and development within the Kinematic...

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Autor: Bohigas, Oriol
Tipo de recurso: otro
Fecha de publicación:2019
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/208316
Acceso en línea:http://hdl.handle.net/10261/208316
Access Level:acceso abierto
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spelling Singularity set computation: A hands-on session with the CUIK suiteBohigas, OriolThis chapter provides an introduction to the analysis of the singularities of robot mechanisms using the CUIK suite software. The CUIK suite is an open-source toolbox for motion analysis of general closed-chain mechanisms, resulting from several years of research and development within the Kinematics and robot design group at the Institut de Robòtica i Informàtica Industrial. It is available under GPLv3 license from the CUIK Project home page. The intention is not to provide thorough definitions or developments, but to illustrate the basic concepts around singularity analysis through a short and simple presentation. The text assumes basic knowledge of the kinematics of robot mechanisms, such as the notions of configuration space, or the forward and inverse kinematics problems. An exhaustive description of the methods, algorithms, and the underlying mathematical concepts used by the CUIK suite can be found in Bohigas et al. (2016). For a better understanding, we do strongly recommend to install the CUIK suite and execute the examples provided while reading this chapter.Springer NatureConsejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]2020202020192020info:eu-repo/semantics/otherhttp://purl.org/coar/resource_type/c_3248info:eu-repo/semantics/bookParthttp://hdl.handle.net/10261/208316reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)InglésCISM International Centre for Mechanical Sciences589http://dx.doi.org/10.1007/978-3-030-05219-5Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2083162026-05-22T06:33:51Z
dc.title.none.fl_str_mv Singularity set computation: A hands-on session with the CUIK suite
title Singularity set computation: A hands-on session with the CUIK suite
spellingShingle Singularity set computation: A hands-on session with the CUIK suite
Bohigas, Oriol
title_short Singularity set computation: A hands-on session with the CUIK suite
title_full Singularity set computation: A hands-on session with the CUIK suite
title_fullStr Singularity set computation: A hands-on session with the CUIK suite
title_full_unstemmed Singularity set computation: A hands-on session with the CUIK suite
title_sort Singularity set computation: A hands-on session with the CUIK suite
dc.creator.none.fl_str_mv Bohigas, Oriol
author Bohigas, Oriol
author_facet Bohigas, Oriol
author_role author
dc.contributor.none.fl_str_mv Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
description This chapter provides an introduction to the analysis of the singularities of robot mechanisms using the CUIK suite software. The CUIK suite is an open-source toolbox for motion analysis of general closed-chain mechanisms, resulting from several years of research and development within the Kinematics and robot design group at the Institut de Robòtica i Informàtica Industrial. It is available under GPLv3 license from the CUIK Project home page. The intention is not to provide thorough definitions or developments, but to illustrate the basic concepts around singularity analysis through a short and simple presentation. The text assumes basic knowledge of the kinematics of robot mechanisms, such as the notions of configuration space, or the forward and inverse kinematics problems. An exhaustive description of the methods, algorithms, and the underlying mathematical concepts used by the CUIK suite can be found in Bohigas et al. (2016). For a better understanding, we do strongly recommend to install the CUIK suite and execute the examples provided while reading this chapter.
publishDate 2019
dc.date.none.fl_str_mv 2019
2020
2020
2020
dc.type.none.fl_str_mv info:eu-repo/semantics/other
http://purl.org/coar/resource_type/c_3248
dc.type.openaire.fl_str_mv info:eu-repo/semantics/bookPart
format other
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/208316
url http://hdl.handle.net/10261/208316
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv CISM International Centre for Mechanical Sciences
589
http://dx.doi.org/10.1007/978-3-030-05219-5
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Springer Nature
publisher.none.fl_str_mv Springer Nature
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
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