Imperial College London

Dr Nicolas Rojas

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
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Contact

 

n.rojas

 
 
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Location

 

Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{N:2013:10.1109/ICRA.2013.6631237,
author = {N, Rojas and F, Thomas},
doi = {10.1109/ICRA.2013.6631237},
pages = {4641--4646},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
title = {The closure condition of the double banana and its application to robot position analysis},
url = {http://dx.doi.org/10.1109/ICRA.2013.6631237},
year = {2013}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - A double banana is defined as the bar-and-joint assembly of two bipyramids joined by their apexes. Clearly, the bar lengths of this kind of assembly are not independent as we cannot assign arbitrary values to them. This dependency can be algebraically expressed as a closure condition fully expressed in terms of bar lengths. This paper is devoted to its derivation and to show how its use simplifies the position analysis of many well-known serial and parallel robots thus providing a unifying treatment to apparently disparate problems. This approach permits deriving the univariate polynomials, needed for the closed-form solution of these position analysis problems, without relying on trigonometric substitutions or difficult variable eliminations.
AU - N,Rojas
AU - F,Thomas
DO - 10.1109/ICRA.2013.6631237
EP - 4646
PB - Institute of Electrical and Electronics Engineers (IEEE)
PY - 2013///
SN - 1050-4729
SP - 4641
TI - The closure condition of the double banana and its application to robot position analysis
UR - http://dx.doi.org/10.1109/ICRA.2013.6631237
UR - http://hdl.handle.net/10044/1/44765
ER -