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- W1979687624 abstract "Les déplacements de solides vont être représentés par 6 nombres réels qui correspondent à une généralisation des angles d'Euler par l'utilisation des nombres duaux et des opérateurs de vissage. On établit alors les relations entre ces nombres réels, lorsqu' on effectue des compositions de déplacements. Ceci permet une approche originale systématique de la détermination du modèle géométrique inverse d'un robot ou de l'analyse d'une boucle de mécanisme. Deux exemples simples illustrent la méthode. The displacements of solid bodies are represented by six real numbers corresponding to a generalization of Euler's angles, with dual numbers and screw operators. The relations between these real numbers are derived from the combination of motion. This method allows us to develop a new and systematic approach to the determination of the inverse model of a robot and in the analysis of a closed loop mechanism. For a spatial triangular system the corresponding formulae are derived and special cases appear naturally. Three examples illustrate the method. The first one concerns a five-axis classical robot, the particularities (parallelism and intersected axes) are automatically and immediately taken into account, for the computation of the inverse geometrical model. The inverse model does not need the derivation of the direct model. In the example of the four-bar RCCC mechanism, the method allows us to obtain immediately the input-output relations in an explicit form." @default.
- W1979687624 created "2016-06-24" @default.
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- W1979687624 date "1991-01-01" @default.
- W1979687624 modified "2023-09-26" @default.
- W1979687624 title "Analyse geometrique des mecanismes a l'aide d'angles d'euler duaux" @default.
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- W1979687624 doi "https://doi.org/10.1016/0094-114x(91)90011-r" @default.
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