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.
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