Geometry of Dynamic and Higher-Order Kinematic Screw

Stefano Stramigioli; H. Bruyninckx

doi:10.1109/ROBOT.2001.933134

Geometry of Dynamic and Higher-Order Kinematic Screw

Stefano Stramigioli, H. Bruyninckx

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

12 Citations (Scopus)

2 Downloads (Pure)

Abstract

This article shows that time derivatives of twists and wrenches are indeed screws, in contrast to many classical kinematicians' believe. Furthermore, it is proven that the "centripetal screw" as well as the momentum of a rigid body together with all its derivatives, are also screws, and that a rigid body's dynamics can be geometrically expressed as a screw equation. The paper relies on a somewhat more formal treatment of the screw theory than usual, in order to clarify these "controversial" issues concerning the motion of rigid systems, and in order to make the link with the more general (and historically much richer) field of differential geometry.

Original language	English
Title of host publication	Proceedings of the 2001 IEEE Conference of Robotics and Automation
Place of Publication	Seoul, Korea
Publisher	IEEE
Pages	3344-3349
Number of pages	6
ISBN (Print)	0-7803-6578-X
DOIs	https://doi.org/10.1109/ROBOT.2001.933134
Publication status	Published - 21 May 2001
Externally published	Yes
Event	IEEE International Conference of Robotics and Automation, ICRA 2001 - Seoul, Korea, Republic of Duration: 21 May 2001 → 26 May 2001

Conference

Conference	IEEE International Conference of Robotics and Automation, ICRA 2001
Abbreviated title	ICRA 2001
Country/Territory	Korea, Republic of
City	Seoul
Period	21/05/01 → 26/05/01

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10.1109/ROBOT.2001.933134

Cite this

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title = "Geometry of Dynamic and Higher-Order Kinematic Screw",

abstract = "This article shows that time derivatives of twists and wrenches are indeed screws, in contrast to many classical kinematicians' believe. Furthermore, it is proven that the {"}centripetal screw{"} as well as the momentum of a rigid body together with all its derivatives, are also screws, and that a rigid body's dynamics can be geometrically expressed as a screw equation. The paper relies on a somewhat more formal treatment of the screw theory than usual, in order to clarify these {"}controversial{"} issues concerning the motion of rigid systems, and in order to make the link with the more general (and historically much richer) field of differential geometry.",

author = "Stefano Stramigioli and H. Bruyninckx",

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doi = "10.1109/ROBOT.2001.933134",

language = "English",

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booktitle = "Proceedings of the 2001 IEEE Conference of Robotics and Automation",

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note = "IEEE International Conference of Robotics and Automation, ICRA 2001, ICRA 2001 ; Conference date: 21-05-2001 Through 26-05-2001",

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T1 - Geometry of Dynamic and Higher-Order Kinematic Screw

AU - Stramigioli, Stefano

AU - Bruyninckx, H.

PY - 2001/5/21

Y1 - 2001/5/21

N2 - This article shows that time derivatives of twists and wrenches are indeed screws, in contrast to many classical kinematicians' believe. Furthermore, it is proven that the "centripetal screw" as well as the momentum of a rigid body together with all its derivatives, are also screws, and that a rigid body's dynamics can be geometrically expressed as a screw equation. The paper relies on a somewhat more formal treatment of the screw theory than usual, in order to clarify these "controversial" issues concerning the motion of rigid systems, and in order to make the link with the more general (and historically much richer) field of differential geometry.

AB - This article shows that time derivatives of twists and wrenches are indeed screws, in contrast to many classical kinematicians' believe. Furthermore, it is proven that the "centripetal screw" as well as the momentum of a rigid body together with all its derivatives, are also screws, and that a rigid body's dynamics can be geometrically expressed as a screw equation. The paper relies on a somewhat more formal treatment of the screw theory than usual, in order to clarify these "controversial" issues concerning the motion of rigid systems, and in order to make the link with the more general (and historically much richer) field of differential geometry.

U2 - 10.1109/ROBOT.2001.933134

DO - 10.1109/ROBOT.2001.933134

M3 - Conference contribution

SN - 0-7803-6578-X

SP - 3344

EP - 3349

BT - Proceedings of the 2001 IEEE Conference of Robotics and Automation

PB - IEEE

CY - Seoul, Korea

T2 - IEEE International Conference of Robotics and Automation, ICRA 2001

Y2 - 21 May 2001 through 26 May 2001

ER -

Geometry of Dynamic and Higher-Order Kinematic Screw

Abstract

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