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Dergiler / International Electronic Journal of Geometry / 2020 / Cilt: 13 - Sayı: 1

On the Configuration Space of Planar Closed Kinematic Chains

Gerhard Zangerl
Sayfa
74–86
Yayın Tarihi
2022-10-18
DOI
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⚡ TL;DR(1 Cümlede Hızlı Çıkarım)

In order to demonstrate practicality of the new method we present numerical examples.

📌 3 Maddede Bu Makale

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Amaç & Hipotez:A planar kinematic chain consists of $n$ links connected by joints.
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Temel Bulgular & Veri:In this work we investigate the space of configurations, described in terms of joint angles, that guarantee that the kinematic chain is closed.
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Sonuç & Katkı:In order to demonstrate practicality of the new method we present numerical examples.
🔬Tür:Araştırma Makalesi
📍Kapsam:Genişletilmiş Akademik Örneklem
⚙️Değişkenler:configuration space · closed kinematic chain · path planning

Abstract

A planar kinematic chain consists of $n$ links connected by joints. In this work we investigate the space of configurations, described in terms of joint angles, that guarantee that the kinematic chain is closed. We give explicit formulas expressing the joint angles that guarantee closedness by a new set of parameters. Moreover, it turns out that this parameters are contained in a domain that possesses a simple structure. We expect that the new insight can be applied for several issues such as motion planning for closed kinematic chains or singularity analysis of their configuration spaces. In order to demonstrate practicality of the new method we present numerical examples.

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Bu Makaleye Atıf Yap

Zangerl, G. (2022). On the Configuration Space of Planar Closed Kinematic Chains. International Electronic Journal of Geometry, Cilt: 13 - Sayı: 1, 74–86. https://ajindex.com/articles/539601

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