Contributions to the kinematics of pointing

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Contributions to the kinematics of pointing

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Contributions to the kinematics of pointing

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

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OECD FORD obor

20301 - Mechanical engineering

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Mechanism and Machine Theory

ISSN

0094-114X

e-ISSN

—

Svazek periodika

108

Číslo periodika v rámci svazku

108

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

13

Strana od-do

97-109

Kód UT WoS článku

000391079200008

EID výsledku v databázi Scopus

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