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The closure condition of the double banana and its application to robot position analysis

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posted on 2023-06-09, 00:28 authored by Nicolas Rojas, Federico Thomas
A double banana is defined as the bar-and-joint assembly of two bipyramids joined by their apexes. Clearly, the bar lengths of this kind of assembly are not independent as we cannot assign arbitrary values to them. This dependency can be algebraically expressed as a closure condition fully expressed in terms of bar lengths. This paper is devoted to its derivation and to show how its use simplifies the position analysis of many well-known serial and parallel robots thus providing a unifying treatment to apparently disparate problems. This approach permits deriving the univariate polynomials, needed for the closed-form solution of these position analysis problems, without relying on trigonometric substitutions or difficult variable eliminations.

History

Publication status

  • Published

Page range

4641-4646

Presentation Type

  • paper

Event name

2013 IEEE International Conference on Robotics and Automation (ICRA)

Event location

Karlsruhe, Germany

Event type

conference

Event date

6-10 May 2013

Book title

2013 IEEE International Conference on Robotics and Automation

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2016-03-07

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