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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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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 Section
ISBN: 3-211-83691-8, 978-3-211-83691-0
Academic Unit/School: Faculty of Science, Technology, Engineering and Mathematics (STEM)
Item ID: 5408
Depositing User: Joseph Rooney
Date Deposited: 06 Sep 2006
Last Modified: 29 May 2018 22:23
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