Characterization of Parallel Manipulator Available Wrench Set Facets - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2010

Characterization of Parallel Manipulator Available Wrench Set Facets

Abstract

The available wrench set is the set of wrenches that can be generated at the platform of a parallel manipulator. In a given configuration, this set is known to be a convex polytope and, recently, it has been pointed out that it is in fact a particular type of convex polytope called a zonotope. This paper deals with the case of parallel manipulators having as many or more actuators than degrees of freedom and discusses a characterization of the facets of the available wrench set.

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Dates and versions

lirmm-00533860 , version 1 (08-11-2010)

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  • HAL Id : lirmm-00533860 , version 1

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Marc Gouttefarde, Sébastien Krut. Characterization of Parallel Manipulator Available Wrench Set Facets. Advances in Robots Kinematics: Motion in Man and Machine, Jun 2010, Piran-Portorož, Slovenia. pp.475-482. ⟨lirmm-00533860⟩
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