Titlebook: Advances in Robot Kinematics 2018; Jadran Lenarcic,Vincenzo Parenti-Castelli Conference proceedings 2019 Springer International Publishing

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CURL

柱廊

压舱物

Novel Plücker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chainstransference is applicable to lift the analytic solution to the inverse kinematics problem (IKP) of generic spherical 3R chains yielding a simple analytic solution for generic spatial 3R chains based on the geometry of lines and screws.

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眼界

Six-Bar Linkage Design System with a Parallelized Polynomial Homotopy Solver the polynomial homotopy solver Bertini that provides new design capabilities. In this implementation, we specify six task positions and two regions for the base pivots. The resulting design equations have total degree .. The structure of the design system is presented and an example demonstrates its performance.

AVID

向前变椭圆

Redundancy Parametrization in Globally-Optimal Inverse Kinematicsative of the redundancy. Techniques are proposed to choose the right parametrization, depending on the manipulator kinematic characteristics and trajectory. While reducing the number of differential equations to be solved, they pave the way to the design of more effective redundancy resolution algorithms based on dynamic programming.

Obstacle

Analytical Determination of a Sphere Inside Which the Stewart Platform Translates Without Suffering , and finally to the solution of a degree 8 univariate equation. The mathematical formulation is applied to two different situations, and the results obtained are verified by comparison with those obtained from an established open-source library designed to detect interference between solids.

textile

Higher-Order Relative Kinematics of Rigid Body Motions: A Dual Lie Algebra Approacharticular cases, the properties for velocities, accelerations, jerks and jounces fields are given. This approach uses the isomorphism between the Lie group of the rigid displacements . and the Lie group of the orthogonal dual tensors.