Using Maple to analyse parallel robots

We present the SIROPA Maple Library which has been designed to study serial and parallel manipulators at the conception level. We show how modern algorithms in Computer Algebra can be used to study the workspace, the joint space but also the existence of some physical capabilities w.r.t. to some design parameters left as degree of freedom for the designer of the robot.

Domaines

Robotique [cs.RO] Géométrie algébrique [math.AG]

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2019_Maple_Conference.pdf (1.76 Mo)

Origine	Fichiers produits par l'(les) auteur(s)

Damien Chablat : Connectez-vous pour contacter le contributeur

https://hal.science/hal-02289699

Soumis le : mercredi 18 septembre 2019-14:12:25

Dernière modification le : vendredi 8 novembre 2024-15:24:02

Dates et versions

hal-02289699 , version 1 (18-09-2019)

Identifiants

HAL Id : hal-02289699 , version 1
DOI : 10.1007/978-3-030-41258-6_4

Citer

Damien Chablat, Guillaume Moroz, Fabrice Rouillier, Philippe Wenger. Using Maple to analyse parallel robots. Jürgen Gerhard; Ilias Kotsireas. Maple in Mathematics Education and Research, Springer, Cham, pp.50-64, 2020, Maple in Mathematics Education and Research, 978-3-030-41257-9. ⟨10.1007/978-3-030-41258-6_4⟩. ⟨hal-02289699⟩

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