Title :
Research on Screws System Dependency under Different Space Geometrical Condition
Author :
Shihua, Li ; Yanmin, Liu ; Ning, Ma
Author_Institution :
Robotics Res. Center, Yanshan Univ., Qinhuangdao
Abstract :
By projective geometry theory, the dependency of screw system, which is constituted by three line vectors and three couples, or four line vectors and two couples, or five line vectors and one couples, is discussed. The lines in the P3 will be mapped to the points in the P5 by using the Klein mapping representation and the homogeneous Plucker coordinates, the dependency of screw system is determined, criterions of dependency are given, and the dependency on different geometrical conditions are listed. All of the results are useful for some problem, such as parallel manipulator degrees of freedom and voluntarily input selecting
Keywords :
geometry; manipulator dynamics; path planning; vectors; Klein mapping representation; homogeneous Plucker coordinates; parallel manipulator; projective geometry theory; screws system dependency; space geometrical condition; Aggregates; Computational geometry; Fasteners; Mechatronics; Orbital robotics; Robot kinematics; Robotics and automation; Vectors; Dependency; Klein Mapping; Screws system;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257674