Variational path optimization of linear pentapods with a simple singularity variety
نویسندگان
چکیده
منابع مشابه
Linear Pentapods with a Simple Singularity Variety
There exists a bijection between the configuration space of a linear pentapod and all points (u,v,w, px, py, pz)∈R located on the singular quadric Γ : u2+v2+w2 = 1, where (u,v,w) determines the orientation of the linear platform and (px, py, pz) its position. Then the set of all singular robot configurations is obtained by intersecting Γ with a cubic hypersurface Σ in R6, which is only quadrati...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2020
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2020.104002