Abstract
This contribution presents a new and simple method for the determination of the mobility of kinematic chains whose mobility can not be determined by analyzing intersections of subalgebras of the Lie algebra, se(3), of the Euclidean group, SE(3). Previous approaches have to analyze the kinematic chain constraints or wrench space to obtain these results. In this contribution, it is shown that properly analyzing the kinematic chain Jacobian matrix, the mobility of the kinematic chain can be obtained within the realm of screw twists without resorting to wrenches or constraints.
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Tadeo, A., Pérez, G., Rico, J.M., Cervantes, J.J. (2010). Determination of Mobility in a Kinematic Chain by Properly Using the Jacobian Matrix. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_14
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_14
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