Geometry Based Analysis of 3R Serial Robots

Computing Cusps of 3R Robots Using Distance Geometry

The singularities of a 3R robot are usually determined, in terms of its joint angles, from the determinant of its Jacobian which can then be mapped onto the robot’s workspace through its forward kinematics. The presence of cusps in these singularity plots permits to change robot’s posture without meeting a singularity and hence their relevance. This paper shows how, using Distance Geometry, the...

A Distance Geometry Approach to the ingularity Analysis of 3R Robots

This paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective invariant, and the basic projective geometric invariants are determinants, it is not surprising that, using Distance Geometry, the computation of the singularity locus of a 3R robot...

Serial robots

a gender-based pragmatic analysis of the use of english compliment responses by iraqi efl students:a speech act perspective

تعارفات کنش های گفتاری هستند که افراد در زندگی روزمر? خود به منظور برقراری دوستی یا تداوم روابط مسالمت آمیز به کار می برند. ساز و کار تعارف مختص زبان انگلیسی یا هر زبان دیگری نیست و پدیده ای است جهانی و در همه زبانها حضور دارد. تفاوتی که از این نظر در زبانها و فرهنگ ها وجود دارد مربوط به پاسخ به این کنش گفتاری در گفتمان است. این مطالعه به بررسی تنوع پاسخ های انگلیسی و عربی به کنش گفتاری تعارف د...

Dimensional Synthesis of RPC Serial Robots

This paper presents a synthesis methodology for the RPC serial robot. This robot has a four dimensional configuration space that can be generated by specifying a finite set of goal positions. The methodology uses the kinematics equations of the robot in dual quaternion form evaluated at each of the goal positions to form design equations. The structure of these design equations allows a systema...