Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation o...
Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3)
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Basel: MDPI AG
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English
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Basel: MDPI AG
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The paper proposes a mathematical method for redefining motion parameterizations based on the joint-space representation of parallel robots. The study parameters of SE(3) are used to describe the robot kinematic chains, but, rather than directly analyzing the mobile platform motion, the joint-space of the mechanism is studied by eliminating the Stu...
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Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3)
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TN_cdi_doaj_primary_oai_doaj_org_article_fa5a9884d32746ca887e368f9adc15e1
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_fa5a9884d32746ca887e368f9adc15e1
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ISSN
2227-7390
E-ISSN
2227-7390
DOI
10.3390/math8071086
