Symbolic Elimination for Parallel Manipulators - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Reports Year : 1996

Symbolic Elimination for Parallel Manipulators

Monique Teillaud
Olivier Devillers

Abstract

The forward kinematics problem of parallel robot consists in computing the position of a solid moving in the three-dimensional space with six points on it constrained to lie respectively on six given spheres. This problem can also be represented by a system of algebraic equations, and it is known to admit at most 40 complex solutions. Our approach consists in adding extra sensors, that give us more information, in order to reduce this bound. We propose a symbolic elimination method, based on the scheme of dialytic elimination. We prove that our method actually gives upper bounds on the number of solutions of the problem. Our implementation supplies us with the first general bounds on this problem with extra sensors.
Fichier principal
Vignette du fichier
RR-2809.pdf (346.11 Ko) Télécharger le fichier

Dates and versions

inria-00073883 , version 1 (24-05-2006)

Identifiers

  • HAL Id : inria-00073883 , version 1

Cite

Luc Tancredi, Monique Teillaud, Olivier Devillers. Symbolic Elimination for Parallel Manipulators. RR-2809, INRIA. 1996. ⟨inria-00073883⟩
101 View
558 Download

Share

Gmail Facebook Twitter LinkedIn More