Contributions to the kinematics of pointing
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F17%3A00310579" target="_blank" >RIV/68407700:21220/17:00310579 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.mechmachtheory.2016.10.018" target="_blank" >http://dx.doi.org/10.1016/j.mechmachtheory.2016.10.018</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.mechmachtheory.2016.10.018" target="_blank" >10.1016/j.mechmachtheory.2016.10.018</a>
Alternative languages
Result language
angličtina
Original language name
Contributions to the kinematics of pointing
Original language description
Pointing consists in orienting a line OP of a rigid body, with its point O fixed, P mobile. The operation can thus be achieved in two steps, one to provide P with the desired longitude on the sphere centered at O, of radius OP, the other to provide P with the desired latitude. While this operation is simpler than a full rigid-body rotation, its kinematics is not yet fully recorded in the literature. In fact, the kinematics of pointing cannot be considered as being included in the kinematics of spherical motion, because the latter is known to form a Lie group, while pointing operations do not. This paper is an effort to shed light on the kinematics of pointing by means of the visualization of the workspace of the mechanism used for its realization. In doing this, a strategy is proposed for the planning of pointing trajectories using a three-revolute spherical wrist. The contributions proposed by the authors thus target the workspace visualization and the path-planning of three-axis wrists when used for pointing operations.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Mechanism and Machine Theory
ISSN
0094-114X
e-ISSN
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Volume of the periodical
108
Issue of the periodical within the volume
108
Country of publishing house
GB - UNITED KINGDOM
Number of pages
13
Pages from-to
97-109
UT code for WoS article
000391079200008
EID of the result in the Scopus database
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