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Pose, posture, formation and contortion in kinematic systems

By J. Rooney and T.K. Tanev

Abstract

The concepts of pose, posture, formation and contortion are defined for serial, parallel and hybrid kinematic systems. Workspace and jointspace structure is examined in terms of these concepts. The inter-relationships of pose, posture, formation and contortion are explored for a range of robot workspace and jointspace types

Publisher: Springer
Year: 2002
OAI identifier: oai:oro.open.ac.uk:5408
Provided by: Open Research Online

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