Rojas, Nicolas and Thomas, Frederico (2013) The univariate closure conditions of all fully parallel planar robots derived from a single polynomial. IEEE Transactions on Robotics, 29 (3). pp. 758-765. ISSN 1552-3098

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Abstract

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.

Item Type:	Article
Schools and Departments:	School of Engineering and Informatics > Engineering and Design
Depositing User:	Nicolas Rojas
Date Deposited:	07 Mar 2016 10:26
Last Modified:	07 Mar 2016 10:26
URI:	http://sro.sussex.ac.uk/id/eprint/59878

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