Publication

Singularity-invariant leg rearrangements in Stewart-Gough platforms

Conference Article

Conference

International Symposium on Advances in Robot Kinematics (ARK)

Edition

12th

Pages

421-428

Doc link

http://dx.doi.org/10.1007/978-90-481-9262-5_45

File

Download the digital copy of the doc pdf document

Abstract

This work presents a necessary and sufficient condition to define a singularity-invariant leg rearrangement, based on an affine relation between the squared leg lengths before and after the rearrangement. This condition is then specified for four rigid components that can occur in Stewart-Gough platforms, leading to the characterization of singularity-invariant leg rearrangements on all of them.

Categories

robot kinematics.

Author keywords

Stewart-Gough platform, forward kinematics, singularities

Scientific reference

J. Borràs Sol, F. Thomas and C. Torras. Singularity-invariant leg rearrangements in Stewart-Gough platforms, 12th International Symposium on Advances in Robot Kinematics, 2010, Piran-Portorož, Slovenia, in Advances in Robot Kinematics: Motion in Man and Machine, pp. 421-428, Springer Verlag.