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The univariate closure conditions of all fully parallel planar robots derived from a single polynomial

journal contribution
posted on 2023-06-09, 00:28 authored by Nicolas Rojas, Frederico Thomas
The real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots can be derived directly from that of the widely known 3-RPR robot by simply formulating these polynomials in terms of distances and oriented areas. This is a relevant result because it avoids the case-by-case treatment that requires different sets of variable eliminations to obtain the univariate polynomial of each fully parallel planar robot.

History

Publication status

  • Published

Journal

IEEE Transactions on Robotics

ISSN

1552-3098

Publisher

Institute of Electrical and Electronics Engineers

Issue

3

Volume

29

Page range

758-765

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2016-03-07

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