Foundations for the Approximate Synthesis of RCCC Motion Generators

  • Jorge AngelesEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


The approximate synthesis of RCCC linkages for motion generation, a.k.a. rigid-body guidance, is the subject of this paper. A formulation is proposed here based on dual algebra, thereby leading to a dual, constrained, nonlinear least-square problem. The dual normality conditions necessary to obtain a feasible least-square approximation are established, following which an algorithm for the solution of the problem is proposed.


Spatial Burmester problem Approximate rigid-body guidance Dual normality conditions Dual Constrained  Nonlinear least squares 


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.McGill UniversityMontrealCanada

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