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On quartically-solvable robots
presentation
posted on 2023-06-09, 00:28 authored by Nicolas Rojas, Julia Borras, Federico ThomasThis paper presents a first attempt at a unified kinematics analysis of all serial and parallel solvable robots, that is, robots whose position analysis can be carried out without relying on numerical methods. The efforts herein are focused on finding a unified formulation for all quartically-solvable robots, as all other solvable robots can be seen as particular cases of them. The first part is centered on the quest for the most general quartically-solvable parallel and serial robots. As a result, representatives of both classes are selected. Then, using Distance Geometry, it is shown how solving the forward kinematics of the parallel representative is equivalent to solve the inverse kinematics of the serial representative, thus providing a unified formulation. Finally, it is shown that the position and singularity analysis of these robots reduces to the analysis of the relative position of two coplanar ellipses.
History
Publication status
- Published
External DOI
Page range
1410-1415Presentation Type
- paper
Event name
2015 IEEE International Conference on Robotics and Automation (ICRA)Event location
Seattle, WAEvent type
conferenceEvent date
26 to 30 May 2015Book title
2015 IEEE International Conference on Robotics and Automation (ICRA)Department affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes