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Neutral wrenches of 3-parametric robot-manipulators of the spherical rank 1. (English) Zbl 1240.70009
Summary: Let $$SE(3)$$ be the Lie group of all Euclidean motions in the Euclidean space $$E_3$$, let $$se(3)$$ be its Lie algebra and $$se^{*} (3)$$ the space dual to $$se(3)$$. This paper deals with structures of the subspaces of $$se^{*} (3)$$ which are formed by all the forces whose power exerted on the robot effector is zero.
MSC:
 7e+61 Robot dynamics and control of rigid bodies
Keywords:
robotics; Lie algebra; twist; wrench
Full Text:
References:
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