Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux

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dc.creatorBaili, Maher
dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2007-07-24
dc.date.accessioned2026-07-07T08:19:55Z
dc.date.available2026-07-07T08:19:55Z
dc.descriptionA family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. Based on this classification, we evaluate theses manipulators by the condition number related to the joint space and the proportion of the region with four inverse kinematic solutions compared to a sphere containing all the workspace. This second performance number is in relation with the workspace. We determine finally le topology of workspace to which belong manipulators having the best performance number values.
dc.identifierhttps://arxiv.org/abs/0707.3552
dc.identifierhttp://arxiv.org/abs/0707.3552
dc.identifierDans Congrès international Conception et Modélisation des Systèmes Mécaniques - Congrès international Conception et Modélisation des Systèmes Mécaniques, Hammamet : Tunisie (03/2005)
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/134929
dc.subjectRobotics
dc.titleAnalyse Comparative des Manipulateurs 3R à Axes Orthogonaux
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