Classical screw theory: a fresh look using the dual eigenproblem approach

Bandyopadhyay, S and Ghosal, A (2007) Classical screw theory: a fresh look using the dual eigenproblem approach. In: 13th National Conference on Machines and Mechanisms, NaCoMM 2007, 12 December 2007 through 13 December 2007, Bangalore, pp. 213-220.

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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. © 13th National Conference on Machines and Mechanisms, NaCoMM 2007.

Item Type:	Conference Paper
Publication:	13th National Conference on Machines and Mechanisms, NaCoMM 2007
Publisher:	PERGAMON-ELSEVIER SCIENCE LTD
Additional Information:	The copyright for this article belongs to PERGAMON-ELSEVIER SCIENCE LTD.
Keywords:	Eigenvalues and eigenfunctions; Geometry; Screws, Arbitrary geometry; Central problems; Closed-form expression; Dual number; Eigen-problems; Generalized eigenproblems; Principal screws; Real symmetric matrix; Screw systems; Screw theory, Manipulators
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	04 Jul 2024 12:12
Last Modified:	04 Jul 2024 12:12
URI:	http://eprints.iisc.ac.in/id/eprint/84592

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