<i>Robots and Screw Theory: Applications of Kinematics and Statics to
                        Robotics</i>

Davidson, Joseph K.; Hunt, K. H.; Pennock, Gordon R.

doi:10.1115/1.1775805

Cited by 145 publications

(131 citation statements)

References 0 publications

Supporting

Mentioning

127

Contrasting

Unclassified

Order By: Relevance

“…direct and inverse Jacobian show them relation with the robot speeds. Although the jacobian can be obtained by other powerful methods (screws theory (Stramigioli and Bruyninckx 2001) (Davidson and Hunt Davidson 2004) or motor algebra (Corrochano and Kähler 2000)), conceptually the robot jacobian can be obtained as the derivate of the direct or the inverse kinematic model. In parallel robots the obtaining of the Jacobian by means of the screws theory or motor algebra can be more complicated.…”

Section: Robot Jacobiansmentioning

confidence: 99%

New Visual Servoing Control Strategies in Tracking Tasks Using a PKM

Traslosheros¹,

Ángel²,

Sebastián³

et al. 2010

Mechatronic Systems Simulation Modeling and Control

View full text Add to dashboard Cite

Section: Robot Jacobiansmentioning

confidence: 99%

New Visual Servoing Control Strategies in Tracking Tasks Using a PKM

Traslosheros¹,

Ángel²,

Sebastián³

et al. 2010

Mechatronic Systems Simulation Modeling and Control

View full text Add to dashboard Cite

“…By applying point cluster technology to the landmarkers' coordinates, the homogeneous transformation matrices were extracted [11]. Then, screw parameters of the knee joint instantaneous motion were extracted from the homogeneous transformation matrix [12].…”

Section: Calculation Methods Of Screw Parametersmentioning

confidence: 99%

Positional Solution of a Novel Knee Rehabilitation Mechanism

Li¹,

Huang²,

Tao³

et al. 2017

dtetr

View full text Add to dashboard Cite

Abstract. In this paper, the design of knee assistive exoskeleton mechanism was discussed, which could enable human knee axis to align the exoskeleton active joint axis ideally. Based on the data of the knee joint flexion experiment, the knee joint screw motion parameters could be extracted. According to the knee joint physiological structure and the instantaneous characteristics of screw axis, the knee joint kinematic model was established. Then, according to the DOFs analysis of human-machine closed chain and the human-machine compatibility, a novel knee exoskeleton mechanism configuration was proposed. And the positional solution of human-machine closed kinematic chain was solved. It can be found that the motion between knee assistive exoskeleton mechanism's joint and human knee joint had certainly quantificational relationship, and the knee assistive mechanism had a fine motion synchronicity with the human knee joint. In addition, while the method of screw axis and the exoskeleton design were proposed for human knee joint, they are also applied to other human limbs. InstructionRobotic exoskeletons are mechatronic devices worn by persons and work cooperatively in parallel with human bodies by the interaction loads. By retrievalling literatures about the design characteristics of knee rehabilitation exoskeleton, designing the exoskeleton was mainly based on the kinematics of human knee joint. According to the proposed knee kinematic model, they can be roughly classified into three categories: (1) knee kinematic model can be simplified to a revolute pair whose rotation axis is fixed and perpendicular to the sagittal plane [1]; (2) knee kinematic model is considered as a revolute pair whose rotation axis is not fixed [2]; (3) knee kinematic model is a 'laxity joint' whose axis' position and posture change instantaneously [3][4][5]. In the existing knee exoskeleton configurations, knee kinematic model was usually simplified as a revolute pair which axis was fixed/or not fixed and was perpendicular to the sagittal plane [6][7][8][9][10]. For example, the exoskeleton SERKA [6] and Lokomat [7] all regarded the knee joint as a rotation pair with fixed rotation axis. Ergin. et al [8] proposed an knee rehabilitation exoskeleton with 3 planar degrees of freedom, and could enable the exoskeleton joint axis to align the knee joint axis in the sagittal plane. Also, Amigo [9] and Celebi [10] presented respectively a virtual joint consisted of three active rotation pair and an active knee rehabilitation exoskeleton which could guarantee the alignment between the exoskeleton joint's axis and the knee joint' axis. The advantage of

show abstract

“…Such a combination of translation and rotation is called a general screw motion [13]. In the definition of screw motion, a positive rotation corresponds to a positive translation along the screw axis according to the right-hand rule.…”

Section: A Useful Mappingmentioning

confidence: 99%

On Cayley’s Factorization of 4D Rotations and Applications

Pérez-Gracia

Thomas

2016

Adv. Appl. Clifford Algebras

View full text Add to dashboard Cite

Abstract. A 4D rotation can be decomposed into a left-and a rightisoclinic rotation. This decomposition, known as Cayley's factorization of 4D rotations, can be performed using Elfrinkhof-Rosen method. In this paper, we present a more straightforward alternative approach using the corresponding orthogonal subspaces, for which orthogonal bases can be defined. This yields easy formulations, both in the space of 4×4 real orthogonal matrices representing 4D rotations and in the Clifford algebra C4,0,0.Cayley's factorization has many important applications. It can be used to easily transform rotations represented using matrix algebra to different Clifford algebras. As a practical application of the proposed method, it is shown how Cayley's factorization can be used to efficiently compute the screw parameters of 3D rigid-body transformations.Mathematics Subject Classification (2010). Primary 99Z99; Secondary 15A66.

show abstract

Robots and Screw Theory: Applications of Kinematics and Statics to Robotics

Cited by 145 publications

References 0 publications

New Visual Servoing Control Strategies in Tracking Tasks Using a PKM

New Visual Servoing Control Strategies in Tracking Tasks Using a PKM

Positional Solution of a Novel Knee Rehabilitation Mechanism

On Cayley’s Factorization of 4D Rotations and Applications

Contact Info

Product

Resources

About