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.

DOI: https://doi.org/10.1007/978-3-7091-2552-6_11

URL: http://www.springer.com/uk/home/generic/search/res...

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.

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About

• Item ORO ID
• 5408
• Item Type
• Book Section
• ISBN
• 3-211-83691-8, 978-3-211-83691-0
• Academic Unit or School
• Faculty of Science, Technology, Engineering and Mathematics (STEM)
• Depositing User
• Joseph Rooney