Reassembling Transformations for Robot Manipulators Characterised Using Network Theoretic and Clifford-Algebraic Methods

Research output: Contribution to journalArticlepeer-review

Abstract

A robotic manipulator's classical mechanical capabilities are governed by the design parameters (mass, geometry, dimensions, etc.) of its kinematic pairs and its architecture (number of limbs, degrees of freedom, actuation ability, etc.). Using Clifford-Algebraic and network theoretic methods, this work presents a novel-theoretical framework which allows any two robot architectures and design parameters to be mathematically related to one another through combinations of discrete operators or 'reassembling transformations'. Two theoretical case studies involving a 6R manipulator and Klann linkage are furnished in this work.

Original languageEnglish
Pages (from-to)816-841
Number of pages26
JournalRobotica
Volume39
Issue number5
Early online date10 Sep 2020
DOIs
Publication statusPublished - May 2021

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