Degeneration to infinity may provide information about kinematics

Abstract : We propose to degenerate the kinematics of a mobile platform by letting the lengths of its legs tend to infinity. The rationale for this approach is that the degenerate situation is simpler to analyze and may provide relevant information for the kinematic analysis of the platform. We implement this approach in the framework of the Study model. We show its usefulness on the example of the general operation mode of the Tsai 3-UPU platform, whose kinematic analysis is rather difficult.
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https://hal.archives-ouvertes.fr/hal-02443359
Contributeur : Michel Coste <>
Soumis le : vendredi 17 janvier 2020 - 09:59:40
Dernière modification le : mardi 21 janvier 2020 - 01:55:55

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  • HAL Id : hal-02443359, version 1

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Michel Coste, Nestor Djintelbe. Degeneration to infinity may provide information about kinematics. 2020. ⟨hal-02443359⟩

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