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TECHNICAL PAPERS

Generalized Linear Product Homotopy Algorithms and the Computation of Reachable Surfaces

[+] Author and Article Information
Hai-Jun Su, J. Michael McCarthy

Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697

Layne T. Watson

Departments of Computer Science and Mathematics, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061

J. Comput. Inf. Sci. Eng 4(3), 226-234 (Sep 07, 2004) (9 pages) doi:10.1115/1.1760550 History: Received September 01, 2003; Revised April 01, 2004; Online September 07, 2004
Copyright © 2004 by ASME
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References

Figures

Grahic Jump Location
A sphere traced by a point at the wrist center of a TS serial chain
Grahic Jump Location
A plane as traced by a point at the wrist center of a PPS serial chain
Grahic Jump Location
The circular cylinder reachable by a CS serial chain
Grahic Jump Location
The circular hyperboloid traced by the wrist center of an RPS serial chain
Grahic Jump Location
The elliptic cylinder reachable by a PRS serial chain
Grahic Jump Location
The circular torus traced by the wrist center of a “right” RRS serial chain
Grahic Jump Location
The general torus reachable by the wrist center of an RRS serial chain

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