Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study

Details Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study

2007-07-13

arxiv.org/abs/0707.2027v1

Advances in Robot Kinematics and Computational Geometry (1998) 117-126

Computer Science

Robotics

Scientific paper

The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly mode are described and compared to each other. The non-singular change of assembly mode is more deeply analysed and discussed in the context of trajectory planning. In particular, it is shown that, according to the location of the initial and final configurations with respect to the uniqueness domains in the workspace, there are three different cases to consider before planning a linking trajectory.

Affiliated with

Also associated with

No associations

Rating

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-60809