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

Sudharsan Thiruvengadam, Jei Shian Tan, Karol Miller

Research output: Contribution to journalArticle

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
JournalRobotica
DOIs
Publication statusE-pub ahead of print - 10 Sep 2020

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