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  • kinematics  (2)
  • Springer  (2)
  • Oxford University Press
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  • Springer  (2)
  • Oxford University Press
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  • 1
    Electronic Resource
    Electronic Resource
    On Versal Unfoldings of Singularities for General Two-Dimensional Spatial Motions (1997)
    Springer
    Acta applicandae mathematicae 47 (1997), S. 221-242 
    Details
    ISSN: 1572-9036
    Keywords: singularity ; kinematics ; robotics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract Local models are given for singularities which can appear on the trajectories of general two-dimensional spatial motions. Versal unfoldings of these model singularities give rise to computer generated pictures describing the family of trajectories arising from small deformations of the tracing point.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1005752830065
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  • 2
    Electronic Resource
    Electronic Resource
    On the Hierarchy of screw systems (1993)
    Springer
    Acta applicandae mathematicae 32 (1993), S. 267-296 
    Details
    ISSN: 1572-9036
    Keywords: 70B10 ; Screw ; kinematics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract LetE(3) be the Lie group of proper rigid motions of Euclidean 3-space. The adjoint action ofE(3) on its Lie algebrae(3) induces an action on the Grassmannian of subspaces of given dimensiond. Projectively, these subspaces are the screw systems of classical kinematics. The authors show that existing classifications of screw systems give rise to Whitney regular stratifications of the Grassmannians, and establish diagrams of specialisations for the strata. A list is given of the screw systems which can appear generically for motions of 3-space with at most three degrees of freedom.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01082452
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