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dc.contributor.authorAlmonacid Kroeger, Miguel 
dc.contributor.authorSaltarén Pazmiño, Roque Jacinto 
dc.contributor.authorAracil Santonja, Rafael 
dc.contributor.authorReinoso García, Óscar 
dc.date.accessioned2009-06-30T12:21:19Z
dc.date.available2009-06-30T12:21:19Z
dc.date.issued2003-06
dc.identifier.citationALMONACID, M., SALTARÉN, R. J., ARACIL, R., REINOSO, O. Motion Planning of a Climbing Parallel Robot. IEEE Transactions on Robotics and Automation, 19 (3): 485-489, Junio 2003. ISSN 1042-296Xes
dc.identifier.issn1042-296X
dc.description.abstractThis paper proposes a novel application of the Stewart–Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is presented. Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedom parallel robot is described, based on spatial constraint formulation. Finally, the gait pattern and the climbing strategy of the parallel robot is described. The information from this research is being used in an actual climbing parallel robot design at Miguel Hernández University of Elche (Alicante), Spain.es
dc.description.sponsorshipThis paper was recommended for publication by Associate Editor M. Shoham and Editor I. Walker upon evaluation of the reviewers’ comments. This work was supported by the Spanish Ministry of Education and Culture under Project 1FD1997-1338.es
dc.formatapplication/pdf
dc.language.isoenges
dc.publisherIEEE Robotics and Automation Societyes
dc.rightsCopyright © 2003 IEEEes
dc.titleMotion planning of a climbing parallel robotes
dc.typeinfo:eu-repo/semantics/articlees
dc.subjectRobot de escaladaes
dc.subjectRobot paraleloes
dc.subjectPlanificación de rutaes
dc.subjectPlataforma Stewartes
dc.subjectClimbing robotes
dc.subjectParallel robotes
dc.subjectPath planninges
dc.subjectStewart planninges
dc.subject.otherIngeniería de Sistemas y Automáticaes
dc.identifier.urihttp://hdl.handle.net/10317/1054
dc.identifier.doi10.1109/TRA.2003.810238


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