Invariant measures of the closeness to linear dependence of six lines or screws-Reference-Cited by-同舟云学术

Invariant measures of the closeness to linear dependence of six lines or screws

Published:2001-10-01 Issue:10 Volume:215 Page:1145-1151
ISSN:0954-4062
Container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Author:

Hartley D M¹,Kerr D R¹

Affiliation:

1. University of Salford Machines, Kinematics and Robotics Group, School of Aeronautical, Civil and Mechanical Engineering Greater Manchester, UK

Abstract

Line and screw systems, used in robotics and machinery analysis, become singular at particular geometric configurations. When not singular, measures are required that describe how far they are from being so. A new system of measures is proposed whose outcome is strictly invariant with respect to coordinate frame, origin and unit of length. Examples of the application of the new measures to sixfold systems of lines and screws in the context of work-holding systems and robotic manipulators are given.

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/095440620121500101

Reference17 articles.

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