Geometric configuration in robot kinematic design

Rooney, Joe (2006). Geometric configuration in robot kinematic design. In: Zielinska, Teresa and Zielinski, Cezary eds. ROMANSY 16: robot design, dynamics and control. CISM International Centre for Mechanical Sciences (487). Springer, pp. 55–62.



A lattice of geometries is presented and compared for representing some geometrical aspects of the kinematic design of robot systems and subsystems. Three geometries (set theory, topology and projective geometry) are briefly explored in more detail in the context of three geometric configurations in robotics (robot groupings, robot connectivities and robot motion sensor patterns).

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