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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.
70E60 Robot dynamics and control of rigid bodies
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