Kinestatic analysis of serial and parallel robot manipulators using Grassmann-Cayley algebra

被引：0

作者：

Staffetti, E ^{[1
]}

Thomas, F ^{[1
]}

机构：

[1] Univ Roma Tre, Dip Informat & Automaz, I-00149 Rome, Italy

来源：

ADVANCES IN ROBOT KINEMATICS | 2000年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper the statics and the instantaneous kinematics of serial and parallel robot manipulators are studied. A projective interpretation of the concepts of twist, wrench, twist space and wrench space - based on the concept of extensor - is presented and a description of the dualistic relation between twist and wrench spaces of serial and parallel robot manipulators is given in terms of the Grassmann-Cayley algebra. The importance of this algebra is that; its join and meet operators are very effective tools for joining and intersecting the linear subspaces involved in the kinestatic analysis of manipulators when they are represented by extensors.

引用

页码：17 / 26

页数：10

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