On the Configuration Space of Planar Closed Kinematic Chains

Gerhard ZANGERL

doi:https://doi.org/10.36890/iejg.611106

Makale detayları

On the Configuration Space of Planar Closed Kinematic Chains

Yazarlar:

Gerhard ZANGERL

Yayıncı:

Kazım İLARSLAN

Ana Başlıklar:

Matematik

Dergi:

International Electronic Journal of Geometry 2020 Vol.13 Issue 1, pp.74-86

Belge Tipi:

Makale

Yayın Tarihi:

1/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000471697

Sıklık:

İki Yıllık

eISSN:

1307-5624

DOI:

https://doi.org/10.36890/iejg.611106

Özet:

 

A planar kinematic chain consists of nnn 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.

Makale detayları

On the Configuration Space of Planar Closed Kinematic Chains

Yazarlar: Gerhard ZANGERL

Yayıncı: Kazım İLARSLAN

Ana Başlıklar: Matematik

Dergi: International Electronic Journal of Geometry 2020 Vol.13 Issue 1, pp.74-86

Belge Tipi: Makale

Yayın Tarihi: 1/2020

Belge Dili: İngilizce

Document ID (Org No.): 2000471697

Sıklık: İki Yıllık

eISSN: 1307-5624

DOI: https://doi.org/10.36890/iejg.611106

Sayı

Yazarlar:

Gerhard ZANGERL

Yayıncı:

Kazım İLARSLAN

Ana Başlıklar:

Matematik

Dergi:

International Electronic Journal of Geometry 2020 Vol.13 Issue 1, pp.74-86

Belge Tipi:

Makale

Yayın Tarihi:

1/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000471697

Sıklık:

İki Yıllık

eISSN:

1307-5624

DOI:

https://doi.org/10.36890/iejg.611106