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
Authors | Selig, JM |
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Type | Conference 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. |
Year | 2018 |
Publisher | Springer |
Journal citation | pp. 28-36 |
Digital Object Identifier (DOI) | https://doi.org/10.1007/978-3-319-93188-3_4 |
Accepted author manuscript | License File Access Level Open |
Publication dates | |
01 Jul 2018 | |
Publication process dates | |
Deposited | 17 Mar 2018 |
Accepted | 14 Mar 2018 |
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https://openresearch.lsbu.ac.uk/item/86q4y
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