2026-09-16T07:47:42Zhttps://gredos.usal.es/oai/requestoai:gredos.usal.es:10366/557312025-12-11T13:45:19Zcom_10366_4386com_10366_4349com_10366_3946com_10366_3823col_10366_4392
Gestión del Repositorio Documental de la Universidad de Salamanca
author
Therón Sánchez, Roberto
author
Moreno Rodilla, Vidal
author
Curto Diego, María Belén
author
Blanco Rodríguez, Francisco Javier
2009-02-06
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
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.
eng
Attribution-NonCommercial-NoDerivs 3.0 Unported
Robots
Robótica
A mathematical formalism for the evaluation of C-space for redundant robots
info:eu-repo/semantics/article
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URL
https://gredos.usal.es/bitstream/10366/55731/1/DIA_Mathematicalformalism.pdf
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DIA_Mathematicalformalism.pdf.txt