Characterization of Parallel Manipulator Available Wrench Set Facets

Marc Gouttefarde 1 Sébastien Krut 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Type de document :
Communication dans un congrès
Advances in Robots Kinematics: Motion in Man and Machine, Jun 2010, Piran-Portorož, Slovenia. Springer, pp.475-482, 2010
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00533860
Contributeur : Marc Gouttefarde <>
Soumis le : lundi 8 novembre 2010 - 14:23:19
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

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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. Springer, pp.475-482, 2010. 〈lirmm-00533860〉

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