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Proceedings Papers

An Unified Approach for the Determination of Instantaneous Screw Axes for Linkages Associated With the Euclidean Group and Its Subgroups

José M. Rico, Juan Ignacio Valderrama Rodríguez, J. Jesús Cervantes-Sánchez, Fernando Tomás Pérez Zamudio

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A080, August 14–17, 2022

Paper No: DETC2022-90782

DOI: https://doi.org/10.1115/DETC2022-90782

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Topics: Linkages, Screws, Lie algebras, Theorems (Mathematics)

Proceedings Papers

A Coordinate Invariant Formulation of the Dynamics of Cooperating Robot Systems

Scott R. Ploen, Frank C. Park

Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A036, August 18–22, 1996

Paper No: 96-DETC/MECH-1160

DOI: https://doi.org/10.1115/96-DETC/MECH-1160

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Topics: Dynamics (Mechanics), Robots, Equations of motion, Chain, Gravity (Force), Kinematics, Lie algebras, Robot dynamics, Transparency

Proceedings Papers

Singularity and Controllability Analysis of Parallel Manipulators

Prasun Choudhury, Ashitava Ghosal

Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A024, September 13–16, 1998

Paper No: DETC98/MECH-5958

DOI: https://doi.org/10.1115/DETC98/MECH-5958

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Topics: Manipulators, Actuators, Degrees of freedom, Equations of motion, Kinematics, Lie algebras

Proceedings Papers

Optimal Motions for Underactuated Manipulators

Garett A. Sohl, James E. Bobrow

Proc. ASME. DETC99, Volume 7A: 17th Biennial Conference on Mechanical Vibration and Noise, 519-527, September 12–16, 1999

Paper No: DETC99/VIB-8242

DOI: https://doi.org/10.1115/DETC99/VIB-8242

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Topics: Manipulators, Algorithms, Chain, Dynamics (Mechanics), Optimal control, Optimization, Lie algebras

Proceedings Papers

Rigid Body Dynamical Equations With Lie Algebra

Krishna C. Gupta

Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1019-1023, September 10–13, 2000

Paper No: DETC2000/MECH-14163

DOI: https://doi.org/10.1115/DETC2000/MECH-14163

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Topics: Lie algebras, Center of mass, Inertia (Mechanics)

Proceedings Papers

Constraint Representation Based on Lie Algebra in a Kinematic Model and Synthesis of Mechanisms

Hitoshi Tokunaga, Satoshi Imamura

Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1461-1469, September 10–13, 2000

Paper No: DETC2000/MECH-14215

DOI: https://doi.org/10.1115/DETC2000/MECH-14215

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Topics: Algebra, Conceptual design, Degrees of freedom, Kinematics, Lie algebras, Mechanical products

Proceedings Papers

A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE (3) and its Subspaces

A. J. Sánchez-García, J. M. Rico, J. J. Cervantes-Sánchez, P. C. López-Custodio

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A092, August 17–19, 2020

Paper No: DETC2020-22456

DOI: https://doi.org/10.1115/DETC2020-22456

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Topics: Lie algebras, Mechanical admittance, Kinematics, Screws

Proceedings Papers

A New Look to the Three Axes Theorem

Juan Ignacio Valderrama-Rodríguez, José M. Rico, J. Jesús Cervantes-Sánchez, Fernando Tomás Pérez-Zamudio

Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A062, August 18–21, 2019

Paper No: DETC2019-97443

DOI: https://doi.org/10.1115/DETC2019-97443

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Topics: Theorems (Mathematics), Algebra, Kinematic chains, Lie algebras

Proceedings Papers

Kinematics Analysis of a Snake Robot Module Using Screw Theory

Qing Xiao, Zhengcai Cao, Jian S. Dai

Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A057, August 21–24, 2016

Paper No: DETC2016-59273

DOI: https://doi.org/10.1115/DETC2016-59273

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Topics: Kinematics, Robots, Screws, Mechanical admittance, Anatomy, Bionics, Lie algebras, Motion control, Parallel mechanisms, Redundancy (Engineering)

Proceedings Papers

A Lie Group Formulation of the Newton-Euler Equations and its Application to Robot Dynamics

Genliang Chen, Hao Wang, Yong Zhong, Haidong Yu

Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A021, August 2–5, 2015

Paper No: DETC2015-47221

DOI: https://doi.org/10.1115/DETC2015-47221

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Topics: Robot dynamics, Screws, Dynamics (Mechanics), Kinematics, Lie algebras, Robot kinematics, Robots, Rotation, System dynamics, Virtual work principle

Proceedings Papers

Redundancy-Free Integration of Rotational Quaternions in Minimal Form

Zdravko Terze, Andreas Mueller, Dario Zlatar

Proc. ASME. IDETC-CIE2014, Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A017, August 17–20, 2014

Paper No: DETC2014-35118

DOI: https://doi.org/10.1115/DETC2014-35118

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Topics: Redundancy (Engineering), Algorithms, Rotational dynamics, Algebra, Dynamics (Mechanics), Kinematics, Lie algebras, Rotation

Proceedings Papers

Screw Systems Generated by Subalgebras: A Further Analysis

A. Tadeo-Cha´vez, J. M. Rico, J. J. Cervantes-Sa´nchez, G. I. Pe´rez-Soto, A. Mu¨ller

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1037-1049, August 28–31, 2011

Paper No: DETC2011-48304

DOI: https://doi.org/10.1115/DETC2011-48304

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Topics: Screws, Design, Kinematic chains, Kinematics, Lie algebras

Proceedings Papers

Screw Systems Generated From Subalgebras: Properties and Applications

J. M. Rico, J. J. Cervantes-Sa´nchez, A. Tadeo-Cha´vez, G. I. Pe´rez-Soto

Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1781-1790, August 15–18, 2010

Paper No: DETC2010-29148

DOI: https://doi.org/10.1115/DETC2010-29148

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Topics: Screws, Kinematic chains, Lie algebras, Mechanical admittance

Proceedings Papers

Infinitesimal Kinematics Methods in the Mobility Determination of Kinematic Chains

J. M. Rico, J. J. Cervantes, A. Tadeo, J. Gallardo, L. D. Aguilera, C. R. Diez

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 1195-1204, August 30–September 2, 2009

Paper No: DETC2009-86489

DOI: https://doi.org/10.1115/DETC2009-86489

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Topics: Kinematic chains, Kinematics, Mechanical admittance, Lie algebras

Proceedings Papers

Effect of the Spatial Extent of the Control in a Bilinear Control Problem for the Schroedinger Equation

Katherine A. Kime

Proc. ASME. IDETC-CIE2009, Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C, 529-534, August 30–September 2, 2009

Paper No: DETC2009-86440

DOI: https://doi.org/10.1115/DETC2009-86440

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Topics: Schrödinger equation, Lie algebras, Geometry

Proceedings Papers

Robustness and Controllability Analysis for Autonomous Navigation of Two-Wheeled Mobile Robots

Alessio Salerno, Jorge Angeles

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 897-903, September 4–7, 2007

Paper No: DETC2007-35415

DOI: https://doi.org/10.1115/DETC2007-35415

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Topics: Mobile robots, Navigation, Robustness, Robots, Dynamics (Mechanics), Uncertainty, Equilibrium (Physics), Kinematics, Lie algebras

Proceedings Papers

Control Lie Algebras of Semi-Discretizations of the Schroedinger Equation

Katherine A. Kime

Proc. ASME. IDETC-CIE2007, Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 643-650, September 4–7, 2007

Paper No: DETC2007-35105

DOI: https://doi.org/10.1115/DETC2007-35105

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Topics: Lie algebras, Schrödinger equation, Spacetime

Proceedings Papers

A Method to Solve Inverse Kinematics Problems Using Lie Algebra and Its Application to Robot Spray Painting Simulation

Hitoshi Tokunaga, Takaaki Okano, Norio Matsuki, Fumiki Tanaka, Takeshi Kishinami

Proc. ASME. IDETC-CIE2004, Volume 1: 30th Design Automation Conference, 85-91, September 28–October 2, 2004

Paper No: DETC2004-57086

DOI: https://doi.org/10.1115/DETC2004-57086

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Topics: Interpolation, Kinematics, Lie algebras, Painting, Robots, Simulation, Sprays

Proceedings Papers

A More General Mobility Criterion for Parallel Platforms

J. M. Rico, L. D. Aguilera, J. Gallardo, R. Rodriguez, H. Orozco, J. M. Barrera

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 163-184, September 28–October 2, 2004

Paper No: DETC2004-57064

DOI: https://doi.org/10.1115/DETC2004-57064

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Topics: Mechanical admittance, Degrees of freedom, Manipulators, Algebra, Kinematics, Lie algebras, Screws

Proceedings Papers

Reconfiguration of Kinematic Structure for Changing Motion Requirement Based on Reusability Evaluation in Lie Algebra

Hitoshi Tokunaga, Norio Matsuki, Satoshi Imamura, Fumiki Tanaka, Takeshi Kishinami

Proc. ASME. IDETC-CIE2002, Volume 2: 28th Design Automation Conference, 161-168, September 29–October 2, 2002

Paper No: DETC2002/DAC-34052

DOI: https://doi.org/10.1115/DETC2002/DAC-34052

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Topics: Kinematics, Lie algebras

NARROW

An Unified Approach for the Determination of Instantaneous Screw Axes for Linkages Associated With the Euclidean Group and Its Subgroups

A Coordinate Invariant Formulation of the Dynamics of Cooperating Robot Systems

Singularity and Controllability Analysis of Parallel Manipulators

Optimal Motions for Underactuated Manipulators

Rigid Body Dynamical Equations With Lie Algebra

Constraint Representation Based on Lie Algebra in a Kinematic Model and Synthesis of Mechanisms

A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE (3) and its Subspaces

A New Look to the Three Axes Theorem

Kinematics Analysis of a Snake Robot Module Using Screw Theory

A Lie Group Formulation of the Newton-Euler Equations and its Application to Robot Dynamics

Redundancy-Free Integration of Rotational Quaternions in Minimal Form

Screw Systems Generated by Subalgebras: A Further Analysis

Screw Systems Generated From Subalgebras: Properties and Applications

Infinitesimal Kinematics Methods in the Mobility Determination of Kinematic Chains

Effect of the Spatial Extent of the Control in a Bilinear Control Problem for the Schroedinger Equation

Robustness and Controllability Analysis for Autonomous Navigation of Two-Wheeled Mobile Robots

Control Lie Algebras of Semi-Discretizations of the Schroedinger Equation

A Method to Solve Inverse Kinematics Problems Using Lie Algebra and Its Application to Robot Spray Painting Simulation

A More General Mobility Criterion for Parallel Platforms

Reconfiguration of Kinematic Structure for Changing Motion Requirement Based on Reusability Evaluation in Lie Algebra

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