Neutral wrenches of 3-parametric robot-manipulators of the spherical rank 1
Applications of Mathematics (2011)
- Volume: 56, Issue: 4, page 405-416
- ISSN: 0862-7940
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topBakšová, Marta. "Neutral wrenches of 3-parametric robot-manipulators of the spherical rank 1." Applications of Mathematics 56.4 (2011): 405-416. <http://eudml.org/doc/116547>.
@article{Bakšová2011,
abstract = {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.},
author = {Bakšová, Marta},
journal = {Applications of Mathematics},
keywords = {robotics; Lie algebra; twist; wrench; robotics; Lie algebra; twist; wrench},
language = {eng},
number = {4},
pages = {405-416},
publisher = {Institute of Mathematics, Academy of Sciences of the Czech Republic},
title = {Neutral wrenches of 3-parametric robot-manipulators of the spherical rank 1},
url = {http://eudml.org/doc/116547},
volume = {56},
year = {2011},
}
TY - JOUR
AU - Bakšová, Marta
TI - Neutral wrenches of 3-parametric robot-manipulators of the spherical rank 1
JO - Applications of Mathematics
PY - 2011
PB - Institute of Mathematics, Academy of Sciences of the Czech Republic
VL - 56
IS - 4
SP - 405
EP - 416
AB - 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.
LA - eng
KW - robotics; Lie algebra; twist; wrench; robotics; Lie algebra; twist; wrench
UR - http://eudml.org/doc/116547
ER -
References
top- Bakša, J., 10.1007/s10492-007-0016-3, Appl. Math. 52 (2007), 303-319. (2007) MR2324729DOI10.1007/s10492-007-0016-3
- Dekrét, A., Bakša, J., Applications of line objects in robotics, Acta Univ. M. Belii, Ser. Math. 9 (2001), 29-42. (2001) Zbl1046.70004MR1935681
- Fecko, M., Differential Geometry and Lie Groups for Physicists, Cambridge University Press Cambridge (2006). (2006) Zbl1121.53001MR2260667
- Karger, A., Robot-manipulators as submanifolds, Math. Pannonica 4 (1993), 235-247. (1993) Zbl0793.53011MR1258929
- Selig, J. M., Geometrical Methods in Robotics, Springer New York (1996). (1996) Zbl0861.93001MR1411680
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