Imperial College London

Dr Nicolas Rojas

Faculty of EngineeringDyson School of Design Engineering








Dyson BuildingSouth Kensington Campus






BibTex format

author = {N, Rojas and J, Borràs and F, Thomas},
doi = {10.1109/ICRA.2015.7139374},
pages = {1410--1415},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
title = {On quartically-solvable robots},
url = {},
year = {2015}

RIS format (EndNote, RefMan)

AB - This 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.
AU - N,Rojas
AU - J,Borràs
AU - F,Thomas
DO - 10.1109/ICRA.2015.7139374
EP - 1415
PB - Institute of Electrical and Electronics Engineers (IEEE)
PY - 2015///
SN - 1050-4729
SP - 1410
TI - On quartically-solvable robots
UR -
UR -
ER -