Robot kinematics and coordinate transformations

1 December 1985

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 24, 1-4
https://doi.org/10.1109/cdc.1985.268461

Abstract

This paper introduces a class of linearizing coordinate transformations for mechanical systems whose moment of inertia matrLx has a square root which is a jacobian. The transformations, when they exist, define a local isometry from joint space to euclidean space, hence, may afford further insight into the transient behavior of robot motion. It remains to be seen whether any appreciably large class of robots admit such linearizing isometries.

Keywords

This publication has 3 references indexed in Scilit:

Nonlinear feedback in robot arm control
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1984
Resolved-acceleration control of mechanical manipulators
IEEE Transactions on Automatic Control, 1980
Elementary Topics in Differential Geometry
Published by Springer Nature ,1979