Special motions of robot-manipulators

Karger, Adolf. "Special motions of robot-manipulators." Applications of Mathematics 39.2 (1994): 127-136. <http://eudml.org/doc/32875>.

@article{Karger1994,
abstract = {There exist many examples of closed kinematical chains which have a freedom of motion, but there are very few systematical results in this direction. This paper is devoted to the systematical treatment of 4-parametric closed kinematical chains and we show that the so called Bennet’s mechanism is essentially the only 4-parametric closed kinematical chain which has the freedom of motion. According to [3] this question is connected with the problem of existence of asymptotic geodesic lines on robot-manipulators considered as submanifolds of a pseudo-Riemannian space. All computations were performed by the help of a formal manipulation system on a PC-computer.},
author = {Karger, Adolf},
journal = {Applications of Mathematics},
keywords = {kinematics; robotics; kinematical chains; Bennet’s mechanism; freedom of motion; robot- manipulators; kinematical chains; Bennet's mechanism; freedom of motion; robot- manipulators},
language = {eng},
number = {2},
pages = {127-136},
publisher = {Institute of Mathematics, Academy of Sciences of the Czech Republic},
title = {Special motions of robot-manipulators},
url = {http://eudml.org/doc/32875},
volume = {39},
year = {1994},
}

TY - JOUR
AU - Karger, Adolf
TI - Special motions of robot-manipulators
JO - Applications of Mathematics
PY - 1994
PB - Institute of Mathematics, Academy of Sciences of the Czech Republic
VL - 39
IS - 2
SP - 127
EP - 136
AB - There exist many examples of closed kinematical chains which have a freedom of motion, but there are very few systematical results in this direction. This paper is devoted to the systematical treatment of 4-parametric closed kinematical chains and we show that the so called Bennet’s mechanism is essentially the only 4-parametric closed kinematical chain which has the freedom of motion. According to [3] this question is connected with the problem of existence of asymptotic geodesic lines on robot-manipulators considered as submanifolds of a pseudo-Riemannian space. All computations were performed by the help of a formal manipulation system on a PC-computer.
LA - eng
KW - kinematics; robotics; kinematical chains; Bennet’s mechanism; freedom of motion; robot- manipulators; kinematical chains; Bennet's mechanism; freedom of motion; robot- manipulators
UR - http://eudml.org/doc/32875
ER -