Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it
A linear pentapod is a parallel manipulator with five collinear anchor points on the motion platform (end-effector), which are connected via extendible legs to the base. This manipulator has five controllable degrees-of-freedom and the remaining one is a free rotation around the motion platform axis...
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| creator | Rasoulzadeh, Arvin Nawratil, Georg |
| description | A linear pentapod is a parallel manipulator with five collinear anchor points
on the motion platform (end-effector), which are connected via extendible legs
to the base. This manipulator has five controllable degrees-of-freedom and the
remaining one is a free rotation around the motion platform axis (which in fact
is an axial spindle). In this paper we present a rational parametrization of
the singularity variety of the linear pentapod. Moreover we compute the
shortest distance to this rational variety with respect to a suitable metric.
Kinematically this distance can be interpreted as the radius of the maximal
singularity free-sphere. |
| doi_str_mv | 10.48550/arxiv.1701.09107 |
| format | Article |
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on the motion platform (end-effector), which are connected via extendible legs
to the base. This manipulator has five controllable degrees-of-freedom and the
remaining one is a free rotation around the motion platform axis (which in fact
is an axial spindle). In this paper we present a rational parametrization of
the singularity variety of the linear pentapod. Moreover we compute the
shortest distance to this rational variety with respect to a suitable metric.
Kinematically this distance can be interpreted as the radius of the maximal
singularity free-sphere.</description><identifier>DOI: 10.48550/arxiv.1701.09107</identifier><language>eng</language><subject>Computer Science - Robotics</subject><creationdate>2017-01</creationdate><rights>http://arxiv.org/licenses/nonexclusive-distrib/1.0</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>228,230,776,881</link.rule.ids><linktorsrc>$$Uhttps://arxiv.org/abs/1701.09107$$EView_record_in_Cornell_University$$FView_record_in_$$GCornell_University$$Hfree_for_read</linktorsrc><backlink>$$Uhttps://doi.org/10.48550/arXiv.1701.09107$$DView paper in arXiv$$Hfree_for_read</backlink></links><search><creatorcontrib>Rasoulzadeh, Arvin</creatorcontrib><creatorcontrib>Nawratil, Georg</creatorcontrib><title>Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it</title><description>A linear pentapod is a parallel manipulator with five collinear anchor points
on the motion platform (end-effector), which are connected via extendible legs
to the base. This manipulator has five controllable degrees-of-freedom and the
remaining one is a free rotation around the motion platform axis (which in fact
is an axial spindle). In this paper we present a rational parametrization of
the singularity variety of the linear pentapod. Moreover we compute the
shortest distance to this rational variety with respect to a suitable metric.
Kinematically this distance can be interpreted as the radius of the maximal
singularity free-sphere.</description><subject>Computer Science - Robotics</subject><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2017</creationdate><recordtype>article</recordtype><sourceid>GOX</sourceid><recordid>eNotzz1PwzAUhWEvDKjwA5jwxpRgO3bsjqh8SpGoaFWxRdf2DVhKncoxiPLrCYHpkc5wpJeQC85KaZRi15C-wmfJNeMlW3KmT8nrC-QwROjpGhLsMafwPS906GgTIkKia4wZDoO_GukmxLePHlLIR7qbwEmInuZ3pLdhzBAd0jzQkM_ISQf9iOf_Lsj2_m67eiya54en1U1TQK11gcqj1d6yykkt5BINk05NGC6VUMI6aa3pagPCI7fIjObCVrX00gjnWLUgl3-3c1p7SGEP6dj-JrZzYvUDMcJMjQ</recordid><startdate>20170131</startdate><enddate>20170131</enddate><creator>Rasoulzadeh, Arvin</creator><creator>Nawratil, Georg</creator><scope>AKY</scope><scope>GOX</scope></search><sort><creationdate>20170131</creationdate><title>Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it</title><author>Rasoulzadeh, Arvin ; Nawratil, Georg</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-a677-e5deb7db03c47249e804c59e88145252bc4bb8f68a2de1be08712b364d482cc03</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2017</creationdate><topic>Computer Science - Robotics</topic><toplevel>online_resources</toplevel><creatorcontrib>Rasoulzadeh, Arvin</creatorcontrib><creatorcontrib>Nawratil, Georg</creatorcontrib><collection>arXiv Computer Science</collection><collection>arXiv.org</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Rasoulzadeh, Arvin</au><au>Nawratil, Georg</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it</atitle><date>2017-01-31</date><risdate>2017</risdate><abstract>A linear pentapod is a parallel manipulator with five collinear anchor points
on the motion platform (end-effector), which are connected via extendible legs
to the base. This manipulator has five controllable degrees-of-freedom and the
remaining one is a free rotation around the motion platform axis (which in fact
is an axial spindle). In this paper we present a rational parametrization of
the singularity variety of the linear pentapod. Moreover we compute the
shortest distance to this rational variety with respect to a suitable metric.
Kinematically this distance can be interpreted as the radius of the maximal
singularity free-sphere.</abstract><doi>10.48550/arxiv.1701.09107</doi><oa>free_for_read</oa></addata></record> |
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| subjects | Computer Science - Robotics |
| title | Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it |
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