ON ASYMPTOTIC MOTIONS OF ROBOT-MANIPULATOR IN HOMOGENEOUS SPACE

被引：0

作者：

Dekret, Anton ^{[1
]}

Baksa, Jan ^{[1
]}

机构：

[1] Fac Wooden Sci, Dept Math & Descript Geometry, Zvolen 96053, Slovakia

来源：

APPLICATIONS OF MATHEMATICS | 2008年 / 53卷 / 06期

关键词：

local differential geometry; robotics; Lie algebra; asymptotic motion;

D O I：

10.1007/s10492-008-0040-y

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

In this paper the notion of robot-manipulators in the Euclidean space is generalized to the case in a general homogeneous space with the Lie group G of motions. Some kinematic subspaces of the Lie algebra G (the subspaces of velocity operators, of Coriolis acceleration operators, asymptotic subspaces) are introduced and by them asymptotic and geodesic motions are described.

引用

页码：535 / 545

页数：11

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