COMPACTIFICATION OF THE GROUP OF RIGID MOTIONS AND APPLICATIONS TO ROBOTICS

Abstract : We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We study in particular the degeneration of the direct kine-matic problem for some parallel robots with three degrees of freedom.
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https://hal-univ-rennes1.archives-ouvertes.fr/hal-02301007
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Submitted on : Monday, September 30, 2019 - 10:21:23 AM
Last modification on : Tuesday, November 5, 2019 - 4:17:56 PM

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  • HAL Id : hal-02301007, version 1
  • ARXIV : 1910.00319

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Nestor Djintelbe, Michel Coste. COMPACTIFICATION OF THE GROUP OF RIGID MOTIONS AND APPLICATIONS TO ROBOTICS. 2019. ⟨hal-02301007⟩

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