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On the Use of Ternary Products to Characterize the Dexterity of Spatial Kinematic Chains

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Advances in Robot Kinematics 2022 (ARK 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 24))

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Abstract

Due to high dimensions and nonlinear behavior, the characterization of the entire workspace of a spatial robotic system represents an ambitious computation task.

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Notes

  1. 1.

    Also denoted by the notation in [18].

  2. 2.

    For identical arguments, the generalized product of (17) matches the ‘denominators’ employed in computing the (‘left’ and ‘right’) generalized Moore–Penrose inverses.

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Acknowledgements

The second author acknowledges that this work has been supported by the “LCM-K2 Center for Symbiotic Mechatronics” within the framework of the Austrian COMET-K2 program.

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Authors and Affiliations

  1. Technische Universität Braunschweig, Institut für Robotik und Prozessinformatik, 38106, Braunschweig, Germany

    Bertold Bongardt

  2. Johannes Kepler Universität Linz, Institut für Robotik, 4040, Linz, Austria

    Andreas Müller

Authors
  1. Bertold Bongardt
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  2. Andreas Müller
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Correspondence to Bertold Bongardt .

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Editors and Affiliations

  1. Faculty of Engineering in Bilbao, University of the Basque Country, Bilbao, Spain

    Oscar Altuzarra

  2. Inst. für Mechatronik und Systemdynamik, University of Duisburg-Essen, Duisburg, Germany

    Andrés Kecskeméthy

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Bongardt, B., Müller, A. (2022). On the Use of Ternary Products to Characterize the Dexterity of Spatial Kinematic Chains. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_4

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