Publication

Analytic formulation of the kinestatic of robot manipulators with arbitrary topology

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2002

Pages

2848-2855

Doc link

http://dx.doi.org/10.1109/ROBOT.2002.1013664

File

Download the digital copy of the doc pdf document

Abstract

An analytic formulation of the statics and the instantaneous kinematics of robot manipulators based on Grassmann-Cayley algebra is presented. The notions of twist, wrench, twist space and wrench space are mathematically represented by the concept of extensors of this algebra and the reciprocity relation between twist and wrench spaces of partially constrained rigid bodies is reflected by its inherent duality. Kinestatic analysis of manipulators implies the computation of sums and intersections of the twist and wrench spaces of the composing chains which are carried out by means of the join and meet operators of this algebra when the linear subspaces involved in the kinestatic analysis of manipulators are represented by extensors. The importance of Grassmann-Cayley algebra in kinestatics is that it has an explicit formula for the meet operator that gives analytical expressions of the twist and wrench space of robot manipulators with arbitrary topology.

Categories

robots.

Scientific reference

E. Staffetti and F. Thomas. Analytic formulation of the kinestatic of robot manipulators with arbitrary topology, 2002 IEEE International Conference on Robotics and Automation, 2002, Washington, Estats Units d'Amèrica, pp. 2848-2855, IEEE.