Lie Algebra and the Mobility of Kinematic Chains

DOI10.1002/ROB.10099zbMATH Open1047.70019OpenAlexW2036784669WikidataQ115396842 ScholiaQ115396842MaRDI QIDQ4452434FDOQ4452434

Authors: Bahram Ravani, José M. Rico, Jaime Gallardo 

Publication date: 12 February 2004

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.10099

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Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Lie algebras of Lie groups (22E60) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

Cites Work

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Cited In (12)

• A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics
• Mobility analysis of multi-loop coupling mechanisms using geometric algebra
• Kinematical Lie Algebras and Invariant Functions of Algebras
• A new formula of mechanism mobility based on virtual constraint loop
• Theory of loop algebra on multi-loop kinematic chains and its application
• A general methodology for mobility analysis of mechanisms based on constraint screw theory
• A simple method to calculate mobility with Jacobian
• Title not available (Why is that?)
• Mobility and spatiality of parallel robots revisited via theory of linear transformations
• Mechanism mobility and a local dimension test
• A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates
• Mobility analysis of overconstrained parallel mechanism using Grassmann-Cayley algebra

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