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
Authors
Projects associated
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, 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.
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