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dc.contributor.authorTherón-Sánchez, Robertoes_ES
dc.contributor.authorMoreno Rodilla, Vidal es_ES
dc.contributor.authorCurto Diego, María Belén es_ES
dc.contributor.authorBlanco Rodríguez, Francisco Javier es_ES
dc.date.accessioned2009-02-06es_ES
dc.date.accessioned2009-10-14T12:04:29Z
dc.date.available2009-10-14T12:04:29Z
dc.date.issued2005es_ES
dc.identifier.citationTHERÓN SÁNCHEZ, R., MORENO RODILLA, V., CURTO DIEGO, M. B.y BLANCO RODRÍGUEZ, F. J. (2005). A mathematical formalism for the evaluation of C-space for redundant robots. En R. Moreno Díaz, F. Pichler, A. Quesada Arencibia (Eds.) "Computer Aided Systems Theory - EUROCAST 2005 : 10th International Conference on Computer Aided Systems Theory, Las Palmas de Gran Canaria, Spain, February 7-11, 2005, Revised Selected Papers" (pp. 596-601). Lecture Notes in Computer Science 3643. Heidelberg : Springeres_ES
dc.identifier.urihttp://hdl.handle.net/10366/55731es_ES
dc.descriptionSe presenta un nuevo método que permite la evaluación del espacio de configuración para robots.es_ES
dc.description.abstractThis paper presents a new general method for obstacle representation in the configuration space (C-space) for redundant robots. The method is based on the analytical deconstruction of the C-space, i.e., the separated evaluation of the C-space portion contributed by the collisions of each link in the kinematic chain. The systematic application of a simple convolution of two functions describing each link and the workspace, respectively, is applied. In order to do that, the transformation of the workspace among reference systems located at one point of each link is needed; in this step a well-known and sound method is used.es_ES
dc.format.extent6 p.es_ES
dc.format.mimetypeapplication/pdfes_ES
dc.languageIngléses_ES
dc.language.isoenges_ES
dc.publisherSpringer (Berlín, Alemania)es_ES
dc.relation.requiresAdobe Acrobates_ES
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Unported
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/3.0/
dc.subjectRobotses_ES
dc.subjectRobóticaes_ES
dc.titleA mathematical formalism for the evaluation of C-space for redundant robotses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.typeinfo:eu-repo/semantics/articlees_ES


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Attribution-NonCommercial-NoDerivs 3.0 Unported
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivs 3.0 Unported