Publisher's Synopsis
Excerpt from Robotics Research Technical Report: A Framework for the Kinematic Analysis of Mechanical Devices
This report establishes a formal framework for the kinematic analysis of mechanical devices The possible kinematic behaviors of a mechanism are described in terms of the configuration space of the mechanism. A proper decomposition of the configuration space, called a region diagram. reflects the possible motions of each object in the mechanism and the relationships between these motions We show how to obtain the region diagram of a fixed axis mechanism by composing pairwise configuration spaces.
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