Pose, Posture, Formation and Contortion in Kinematic Systems
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.
KeywordsParallel Manipulator Revolute Joint Joint Variable Prismatic Joint Stewart Platform
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