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dc.contributor.advisor | Mata Amela, Vicente | es_ES |
dc.contributor.advisor | Heimann, Bodo | es_ES |
dc.contributor.author | DE NIJS, RODERICK SEBASTIAAN | es_ES |
dc.date.accessioned | 2013-11-28T11:37:52Z | |
dc.date.available | 2013-11-28T11:37:52Z | |
dc.date.created | 2009-01 | |
dc.date.issued | 2013-11-28 | |
dc.identifier.uri | http://hdl.handle.net/10251/34125 | |
dc.description.abstract | Consulta en la Biblioteca ETSI Industriales (7945) | es_ES |
dc.description.abstract | [EN] The purpose of this work is to explore the possibility of determining the location of the singularities of a 3-(P)RRR parallel manipulator using interval analysis and to compare them to its non-redundant 3-RRR sibling. The fundamental concepts of the studied robots are reviewed and a the basics of interval analysis are introduced. A branch and bound method is used to subdivide the workspace and an interval extension of the geometric condition for singularities is introduced for finding non-singular regions in the workspace. A solver based on this method is faster and more effective than one based on the determinant. It is shown that using interval analysis it is possible introduce geometric uncertainties in the robot and to find guaranteed singularity free regions. 1 | es_ES |
dc.language | Inglés | es_ES |
dc.publisher | Universitat Politècnica de València | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Consulta en la Biblioteca ETSI Industriales | es_ES |
dc.subject | Robótica | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.subject.other | Ingeniero Industrial-Enginyer Industrial | es_ES |
dc.title | Singularity analysis of a 3 (p)rrr manipulator using interval analysis | es_ES |
dc.type | Proyecto/Trabajo fin de carrera/grado | es_ES |
dc.rights.accessRights | Cerrado | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros Industriales - Escola Tècnica Superior d'Enginyers Industrials | es_ES |
dc.description.bibliographicCitation | De Nijs, RS. (2009). Singularity analysis of a 3 (p)rrr manipulator using interval analysis. http://hdl.handle.net/10251/34125. | es_ES |
dc.description.accrualMethod | Archivo delegado | es_ES |