ISSN:
1573-0409
Keywords:
Plücker coordinates
;
Grassmann—Cayley algebra
;
robot
;
motion space
;
series-parallel
;
mechanism
;
infinitesimal rigiditly
;
spline
;
Cayley factorization
;
bracket algebra
;
projective geometry
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract Plücker coordinates are a suitable way to represent lines in space for purposes of studying instantaneous motions of robot arms. Similarly, we can represent any affine subspace of Euclidean space of any dimension. This can be useful for studying motion spaces of robot arms. In this paper, after we introduce Plücker coordinates and develop a few of their basic properties, we present them in a somewhat more abstract setting, called the Grassmann—Cayley algebra. Several other applications of this algebra are also described.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01258296
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