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Contortion and Formation Structures in the Mappings between Robotic Jointspaces and Workspaces

Rooney, J. and Tanev, T. K. (2003). Contortion and Formation Structures in the Mappings between Robotic Jointspaces and Workspaces. Journal of Robotic Systems, 20(7) pp. 341–353.

DOI (Digital Object Identifier) Link: http://dx.doi.org/10.1002/rob.10090
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Abstract

The concepts of formation in robotic workspace (WS) and contortion in robotic jointspace (JS) are developed, based on the notions of pose and posture, respectively. The approach focuses on the forward and reverse mappings between jointspace and workspace. It utilizes the Cartesian product space JS×WS to interpret these mappings, and, in particular, their singularities as determined by the Jacobians. The singularities are interpreted from the viewpoint of geometric (Clifford) algebra. Initially, systems that have 1D jointspaces and 1D workspaces are discussed before higher-dimensional examples are examined.

Item Type: Journal Article
ISSN: 0741-2223
Academic Unit/Department: Mathematics, Computing and Technology > Engineering & Innovation
Item ID: 12726
Depositing User: Users 8128 not found.
Date Deposited: 23 Dec 2008 03:24
Last Modified: 02 Dec 2010 20:17
URI: http://oro.open.ac.uk/id/eprint/12726
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