The univariate closure conditions of all fully parallel planar robots derived from a single polynomial

The real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots can be derived directly from that of the widely known 3-RPR robot by simply...

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Detalles Bibliográficos
Autores: Rojas, Nicolás, Thomas, Federico
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2013
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/96465
Acceso en línea:http://hdl.handle.net/10261/96465
Access Level:acceso abierto
Palabra clave:Forward kinematics
Position analysis
Planar Gough-Stewart platforms
Planar robots
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spelling The univariate closure conditions of all fully parallel planar robots derived from a single polynomialRojas, NicolásThomas, FedericoForward kinematicsPosition analysisPlanar Gough-Stewart platformsPlanar robotsThe real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots can be derived directly from that of the widely known 3-RPR robot by simply formulating these polynomials in terms of distances and oriented areas. This is a relevant result because it avoids the case-by-case treatment that requires different sets of variable eliminations to obtain the univariate polynomial of each fully parallel planar robot. © 2004-2012 IEEE.This work was supported by the Spanish Ministry of Economy and Competitiveness through the Explora programme under Contract DPI2011-13208-E.Peer ReviewedInstitute of Electrical and Electronics Engineers2014201420132014info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Postprintinfo:eu-repo/semantics/acceptedVersionhttp://hdl.handle.net/10261/96465reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttp://dx.doi.org/10.1109/TRO.2013.2242376info:eu-repo/semantics/openAccessoai:digital.csic.es:10261/964652026-05-22T06:33:51Z
dc.title.none.fl_str_mv The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
title The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
spellingShingle The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
Rojas, Nicolás
Forward kinematics
Position analysis
Planar Gough-Stewart platforms
Planar robots
title_short The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
title_full The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
title_fullStr The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
title_full_unstemmed The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
title_sort The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
dc.creator.none.fl_str_mv Rojas, Nicolás
Thomas, Federico
author Rojas, Nicolás
author_facet Rojas, Nicolás
Thomas, Federico
author_role author
author2 Thomas, Federico
author2_role author
dc.subject.none.fl_str_mv Forward kinematics
Position analysis
Planar Gough-Stewart platforms
Planar robots
topic Forward kinematics
Position analysis
Planar Gough-Stewart platforms
Planar robots
description The real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots can be derived directly from that of the widely known 3-RPR robot by simply formulating these polynomials in terms of distances and oriented areas. This is a relevant result because it avoids the case-by-case treatment that requires different sets of variable eliminations to obtain the univariate polynomial of each fully parallel planar robot. © 2004-2012 IEEE.
publishDate 2013
dc.date.none.fl_str_mv 2013
2014
2014
2014
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Postprint
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/96465
url http://hdl.handle.net/10261/96465
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv http://dx.doi.org/10.1109/TRO.2013.2242376
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
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
repository.name.fl_str_mv
repository.mail.fl_str_mv
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