Equimomental systems and robot dynamics

Conference paper

Selig, JM (2015). Equimomental systems and robot dynamics. IMA Conference on Mathematics of Robotics. St Anne’s College, University of Oxford 09 - 11 Sep 2015 Institute of Mathematics and its Applications (IMA). pp. ? - ? (8)
AuthorsSelig, JM
TypeConference paper
Abstract

Three different concepts from the past are reviewed from a more modern standpoint. Constructing an equimomental system of four point-masses to an arbitrary rigid-body; the conditions for the generalised mass matrix of a serial robot to be constant and how to dynamically balance an arbitrary rigid body so that it is symmetrical about a given axis. Connections are made to the geometry of a 3-dimensional Veronese variety.

Year2015
PublisherInstitute of Mathematics and its Applications (IMA)
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Print11 Sep 2015
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Deposited08 Jun 2017
Accepted11 Sep 2015
ISBN978-0-90-509133-4
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