Abstract
In this paper, the authors will show a method to visualize the configuration space so that the relation between input and output variables can be easily assessed. Making use of concepts such as the configuration space with constant input, it will be possible to obtain all the Direct Kinematic Problem solutions in parallel manipulators, and analyse how to plan motions between them. Visualizing the entity called reduced configuration space, allows an effective motion planning to reach a wider operational workspace.
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© 2009 Springer-Verlag Berlin Heidelberg
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Urizar, M., Petuya, V., Altuzarra, O., Hernandez, A. (2009). Computing the Configuration Space for Motion Planning between Assembly Modes. In: Kecskeméthy, A., Müller, A. (eds) Computational Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01947-0_5
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DOI: https://doi.org/10.1007/978-3-642-01947-0_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-01946-3
Online ISBN: 978-3-642-01947-0
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