Analysis of rigid body interactions for compliant motion tasks using the Grassmann-Cayley Algebra

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2000, Pages 2325-2332

  Staffetti, E ^a   Thomas, F ^a  

^a INSTITUT DE ROBÒTICA I INFORMÀTICA INDUSTRIAL CSIC UPC   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION THEORY; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; LINEAR ALGEBRA; MANIPULATORS; MATRIX ALGEBRA; MOTION CONTROL; MOTION PLANNING;

COMPLIANT MOTION TASKS; GRASSMANN-CAYLEY ALGEBRA; KINESTATICS;

FORCE CONTROL;

EID: 0034449802     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. Finding infinitesimal motions of objects in assemblies using Grassmann-Cayley algebra
2. The marching lines algorithm: New results and proofs
3. Kinematic models for model-based compliant motion in the presence of uncertainty
4. Kinestatic analysis of serial and parallel robot manipulators using Grassmann-Cayley algebra
5. On the exterior calculus of invariant theory
6. A tutorial on Grassmann-Cayley algebra
7. Grassmann-Cayley algebra and robotics
8. Geometric applications of the Grassmann-Cayley algebra
9. The fallacy of modern hybrid control theory that is based on "orthogonal complements" of twist and wrench spaces