| Title:
|
Neutral wrenches of 3-parametric robot-manipulators of the spherical rank 1 (English) |
| Author:
|
Bakšová, Marta |
| Language:
|
English |
| Journal:
|
Applications of Mathematics |
| ISSN:
|
0862-7940 (print) |
| ISSN:
|
1572-9109 (online) |
| Volume:
|
56 |
| Issue:
|
4 |
| Year:
|
2011 |
| Pages:
|
405-416 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
Let $SE(3)$ be the Lie group of all Euclidean motions in the Euclidean space $E_{3}$, let $se(3)$ be its Lie algebra and $se^{*} (3)$ the space dual to $se(3)$. This paper deals with structures of the subspaces of $se^{*} (3)$ which are formed by all the forces whose power exerted on the robot effector is zero. (English) |
| Keyword:
|
robotics |
| Keyword:
|
Lie algebra |
| Keyword:
|
twist |
| Keyword:
|
wrench |
| MSC:
|
70E60 |
| MSC:
|
70G65 |
| idZBL:
|
Zbl 1240.70009 |
| idMR:
|
MR2833169 |
| DOI:
|
10.1007/s10492-011-0023-2 |
| . |
| Date available:
|
2011-06-23T13:10:11Z |
| Last updated:
|
2020-07-02 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/141602 |
| . |
| Reference:
|
[1] Bakša, J.: Three-parametric robot manipulator with parallel rotational axes.Appl. Math. 52 (2007), 303-319. MR 2324729, 10.1007/s10492-007-0016-3 |
| Reference:
|
[2] Dekrét, A., Bakša, J.: Applications of line objects in robotics.Acta Univ. M. Belii, Ser. Math. 9 (2001), 29-42. Zbl 1046.70004, MR 1935681 |
| Reference:
|
[3] Fecko, M.: Differential Geometry and Lie Groups for Physicists.Cambridge University Press Cambridge (2006). Zbl 1121.53001, MR 2260667 |
| Reference:
|
[4] Karger, A.: Robot-manipulators as submanifolds.Math. Pannonica 4 (1993), 235-247. Zbl 0793.53011, MR 1258929 |
| Reference:
|
[5] Selig, J. M.: Geometrical Methods in Robotics.Springer New York (1996). Zbl 0861.93001, MR 1411680 |
| . |
