Analysing the singularities of 6-SPS parallel robots using virtual legs

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/2736

dc.contributor	Institut de Robòtica i Informàtica Industrial
dc.contributor.author	Borràs Sol, Júlia
dc.contributor.author	Thomas, Federico
dc.contributor.author	Torras, Carme
dc.date	2008
dc.identifier.citation	Borràs Sol, Júlia; Thomas, Federico; Torras, Carme. "Analysing the singularities of 6-SPS parallel robots using virtual legs". A: Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (Parallel), Montpeller, França, 2008. LIRMM, 2008, p. 145-150.
dc.identifier.uri	http://hdl.handle.net/2117/2736
dc.language.iso	eng
dc.publisher	LIRMM
dc.relation	International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (Parallel)
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Robots -- Kinematics
dc.subject	Robots
dc.subject	Cinemàtica
dc.subject	Classificació INSPEC::Automation::Robots::Robot kinematics
dc.title	Analysing the singularities of 6-SPS parallel robots using virtual legs
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	A virtual leg in a 6-SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. In this paper, we consider four different rigid subassemblies, and show how the singularities of a robot containing one or several of these subassemblies are modified when substituting its actual legs by virtual legs.
dc.description.abstract	Peer Reviewed

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