Displacement Varieties for Some PUP Linkages View Full Text


Ontology type: schema:Chapter      Open Access: True


Chapter Info

DATE

2019

AUTHORS

Jonathan M. Selig

ABSTRACT

In this work sub-varieties of the Study quadric of rigid-body displacements are investigated. The particular sub-varieties considered are the possible displacements which can be performed by the end-effector of certain PUP linkages. In general these varieties are linear projections of a 4-dimensional Segre variety in 15-dimensional projective space. The different linkages correspond to projections with different centres. For one particular linkage the intersection of three such sub-varieties is studied, this intersection corresponds to the assembly configurations of a parallel robot with 3 such PUP legs. More... »

PAGES

28-36

References to SciGraph publications

Book

TITLE

Advances in Robot Kinematics 2018

ISBN

978-3-319-93187-6
978-3-319-93188-3

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-319-93188-3_4

DOI

http://dx.doi.org/10.1007/978-3-319-93188-3_4

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1105067006


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