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Invariants for Multi-Twists, Screw Systems and Serial Manipulators

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posted on 22.07.2021, 05:48 by Peter Donelan
The Euclidean group of proper isometries SE(3) acts on its Lie algebra, the vector space of twists by the adjoint action. This extends to multi-twists and screw systems. Invariants of these actions encode geometric information about the objects and are fundamental in applications to robot kinematics. This paper explores relations between known invariants and applies them to serial manipulators.

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Preferred citation

Donelan, P. (2020). Invariants for Multi-Twists, Screw Systems and Serial Manipulators. In Jadran Lenarčič, Bruno Siciliano (Ed.), International Symposium on Advances in Robot Kinematics (15, pp. 133-141). Springer. https://doi.org/10.1007/978-3-030-50975-0_17

Book title

International Symposium on Advances in Robot Kinematics

Publisher

Springer

Place of publication

Cham

Pagination

133-141

Editors

Jadran Lenarčič; Bruno Siciliano

Series

Springer Proceedings in Advanced Robotics

Volume

15

ISBN

9783030509743

ISSN

2511-1256

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