Classical screw theory: A fresh look using dual eigenvalue approach

Bandyopadhyay, Sandipan and Ghosal, Ashitava (2007) Classical screw theory: A fresh look using dual eigenvalue approach. In: 13th National Conference on Mechanisms and Machines (NaCoMM07),, December 12-13, 2007, IISc, Bangalore.

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Abstract

This paper presents a novel algebraic formulation of the central problem of screw theory, namely the determination of the principal screws of a given system. Using the algebra of dual numbers, it shows that the principal screws can be determined via the solution of a generalised eigenproblem of two real, symmetric matrices. This approach allows the study of the principal screws of the general screw systems associated with a manipulator of arbitrary geometry in terms of closed-form expressions of its architecture and configuration parameters. The formulation is illustrated with examples of practical manipulators.

Item Type:	Conference Paper
Keywords:	Screw theory;Principal screws;Eigenproblem;Dual number
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	28 Oct 2011 09:27
Last Modified:	28 Oct 2011 09:27
URI:	http://eprints.iisc.ernet.in/id/eprint/41771

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