Displacement Varieties for Some PUP Linkages

Conference paper

Selig, JM (2018). Displacement Varieties for Some PUP Linkages. 16th International Symposium on Advances in Robot Kinematics. Bologna, Italy 01 - 05 Jul 2018 Springer. https://doi.org/10.1007/978-3-319-93188-3_4
AuthorsSelig, JM
TypeConference paper
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.

Year2018
PublisherSpringer
Journal citationpp. 28-36
Digital Object Identifier (DOI)https://doi.org/10.1007/978-3-319-93188-3_4
Accepted author manuscript
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Print01 Jul 2018
Publication process dates
Deposited17 Mar 2018
Accepted14 Mar 2018
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