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{Rojas:2017:10.1007/978-3-319-60867-9_29,
author = {Rojas, N and Thomas, F},
doi = {10.1007/978-3-319-60867-9_29},
publisher = {Springer},
title = {Forward kinematics of the general triple-arm robot using a distance-based formulation},
url = {http://dx.doi.org/10.1007/978-3-319-60867-9_29},
year = {2017}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Distance-based formulations have successfully been used to obtain closure polynomialsfor planar mechanisms without relying, in most cases, on variable eliminations. The methods re-sulting from previous attempts to generalize these techniques to spatial mechanisms exhibit somelimitations such as the impossibility of incorporating orientation constraints. For the first time, thispaper presents a complete satisfactory generalization. As an example, it is applied to obtain a clo-sure polynomial for the the general triple-arm parallel robot (that is, the 3-RPS 3-DOF robot). Thispolynomial, not linked to any particular reference frame, is obtained without variable eliminationsor tangent-half-angle substitutions.
AU - Rojas,N
AU - Thomas,F
DO - 10.1007/978-3-319-60867-9_29
PB - Springer
PY - 2017///
TI - Forward kinematics of the general triple-arm robot using a distance-based formulation
UR - http://dx.doi.org/10.1007/978-3-319-60867-9_29
UR - http://hdl.handle.net/10044/1/45099
ER -