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Pose, posture, formation and contortion in kinematic systems

Rooney, J. and Tanev, T.K. (2002). Pose, posture, formation and contortion in kinematic systems. In: Bianchi, Giovanni; Guinot, Jean-Claude and Rzymkowski, Cezary eds. ROMANSY 14: Theory and Practice of Robots and Manipulators: Proceedings of the Fourteenth Cism-IFToMM Symposium. CISM International Centre for Mechanical Sciences (438). Springer, pp. 77–86.

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Abstract

The concepts of pose, posture, formation and contortion are defined for serial, parallel and hybrid kinematic systems. Workspace and jointspace structure is examined in terms of these concepts. The inter-relationships of pose, posture, formation and contortion are explored for a range of robot workspace and jointspace types.

Item Type: Book Chapter
ISBN: 3-211-83691-8, 978-3-211-83691-0
Academic Unit/Department: Mathematics, Computing and Technology > Engineering & Innovation
Item ID: 5408
Depositing User: Joseph Rooney
Date Deposited: 06 Sep 2006
Last Modified: 06 Dec 2010 19:11
URI: http://oro.open.ac.uk/id/eprint/5408
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