Displacement Varieties for Some PUP Linkages

Jon Selig

doi:10.1007/978-3-319-93188-3_4

Displacement Varieties for Some PUP Linkages

Jon Selig

Research output: Contribution to conference › Paper › peer-review

Abstract

In this work sub-varieties of the Study quadric of rigid-body displacements are investigated. The particular sub-varieties considered are the possible displacements which can be performed by the end-effector of certain PUP linkages. In general these varieties are linear projections of a 4-dimensional Segre variety in 15-dimensional projective space. The different linkages correspond to projections with different centres. For one particular linkage the intersection of three such sub-varieties is studied, this intersection corresponds to the assembly configurations of a parallel robot with 3 such PUP legs.

Original language	English
Pages	28-36
DOIs	https://doi.org/10.1007/978-3-319-93188-3_4
Publication status	Published - 1 Jul 2018
Externally published	Yes
Event	16th International Symposium on Advances in Robot Kinematics - Duration: 7 Jan 2018 → …

Conference

Conference	16th International Symposium on Advances in Robot Kinematics
Period	7/01/18 → …

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10.1007/978-3-319-93188-3_4Licence: CC BY 4.0

Cite this

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AB - In this work sub-varieties of the Study quadric of rigid-body displacements are investigated. The particular sub-varieties considered are the possible displacements which can be performed by the end-effector of certain PUP linkages. In general these varieties are linear projections of a 4-dimensional Segre variety in 15-dimensional projective space. The different linkages correspond to projections with different centres. For one particular linkage the intersection of three such sub-varieties is studied, this intersection corresponds to the assembly configurations of a parallel robot with 3 such PUP legs.

U2 - 10.1007/978-3-319-93188-3_4

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T2 - 16th International Symposium on Advances in Robot Kinematics

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ER -

Displacement Varieties for Some PUP Linkages

Abstract

Conference

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