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• W2579745369 abstract "The geometric modeling gives the structure configuration and enables the derivation of the kinematic or dynamic models of robots, it involves a procedure for reference frames definition and a specific formalism that allows the poses transformations from a reference frame to another one. This paper proposes a new geometrical modeling approach, referred to as the translated frame-based approach, which has two main advantages over the state-of-the art, namely the reference frames definition is intuitive and it eliminates the computation of the transformation operators. The frames definitions are reduced to apparent translations of the base frame and the computation is replaced with choosing an operator from a collection of six operators that cover all transformation possibilities. The suggested approach is validated by the computation of the geometric models of a PUMA robot and a redundant robot. Display Omitted A new geometric modeling approach is proposed.The frames definitions are reduced to apparent translations of the base frame.One out of six operators that cover all transformation possibilities is chosen.The approach is tested by simulation and real-world experimental results.The validation is carried out on a PUMA robot and a redundant robot." @default.
• W2579745369 created "2017-01-26" @default.
• W2579745369 creator A5010759472 @default.
• W2579745369 creator A5018819884 @default.
• W2579745369 date "2017-05-01" @default.
• W2579745369 modified "2023-09-26" @default.
• W2579745369 title "On a translated frame-based approach to geometric modeling of robots" @default.
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• W2579745369 doi "https://doi.org/10.1016/j.robot.2017.01.004" @default.
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