Romansy 16 pp 55-62 | Cite as

Geometric Configuration in Robot Kinematic Design

  • Joe Rooney
Part of the CISM Courses and Lectures book series (CISM, volume 487)


A lattice of geometries is presented and compared for representing some geometrical aspects of the kinematic design of robot systems and subsystems Three geometries (set theory, topology and projective geometry) are briefly explored in more detail in the context of three geometric configurations in robotics (robot groupings, robot connectivities and robot motion sensor patterns).


Span Tree Geometric Configuration Robot System Projective Geometry Kinematic Behaviour 


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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Joe Rooney
    • 1
  1. 1.Faculty of TechnologyThe Open UniversityMilton KeynesUK

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