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A general method for the computation of the canonical form of three-systems of infinitesimal screws

Published online by Cambridge University Press:  01 January 1998

José María Rico Martínez  and
Joseph Duffy
José María Rico Martínez
Affiliation:
Departamento de Ingeniería Mecánica, Instituto Tecnológico de Celaya, 38000 Celaya, Gto., México
Joseph Duffy
Affiliation:
Center for Intelligent Machines and Robotics, University of Florida, Gainesville, Fl. 32611-2050, USA
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Abstract

A general method for the computation of the canonical form of three-systems of infinitesimal screws is presented. The method is particularly simple when the three-system has a basis that is simultaneously perpendicular and reciprocal. However, it can also handle the special or degenerate cases. The method and the concurrent results are important from the theoretical point of view because of the obvious connection with the classification of screw-systems. Moreover, the results are also important for applied kinematics after recent applications of the canonical form of screw-systems to the analysis and synthesis of manipulators and manipulator substructures.

Keywords

Three-systemsCanonical formsOrthogonal spacesLie algebras
Type
Research Article
Information
Robotica , Volume 16 , Issue 1 , January 1998 , pp. 37 - 45
Copyright
© 1998 Cambridge University Press

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