Title :
Kinematically dual manipulators
Author :
Bruyninckx, Herman
Author_Institution :
Dept. Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
Abstract :
This paper uses the differential-geometric concepts of tangent and co-tangent space to describe the well-known duality between twists of, and wrenches acting on, a rigid body. This duality is the basis for formal and mathematically rigorous definitions of the duality for serial kinematic chains, parallel kinematic chains, and finally the duality between a serial and a parallel chain
Keywords :
differential geometry; manipulator kinematics; differential-geometry; duality; kinematically dual manipulators; parallel kinematic chains; rigid body; serial kinematic chains; tangent space; Fasteners; Geometry; Kinematics; Manipulators; Mechanical engineering; Orbital robotics; Parallel architectures; Parallel robots; Vectors; World Wide Web;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772524
