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Therón Sánchez, Roberto Moreno Rodilla, Vidal Curto Diego, María Belén Blanco Rodríguez, Francisco Javier 2009-02-06 2009-10-14T12:04:29Z 2009-10-14T12:04:29Z 2005 THERÓN 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 : Springer http://hdl.handle.net/10366/55731 Se presenta un nuevo método que permite la evaluación del espacio de configuración para robots. This 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. 6 p. application/pdf Inglés eng Springer (Berlín, Alemania) Attribution-NonCommercial-NoDerivs 3.0 Unported https://creativecommons.org/licenses/by-nc-nd/3.0/ info:eu-repo/semantics/openAccess Robots Robótica A mathematical formalism for the evaluation of C-space for redundant robots info:eu-repo/semantics/article info:eu-repo/semantics/article