Cart (Loading....) | Create Account
Close category search window
 

Lagrangian wrench distribution for cooperating robotic mechanisms

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Joh, J. ; George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; Lipkin, H.

A systematic method for analysis of cooperating robotic mechanisms is investigated using constrained optimization. The wrench distribution problem is formulated as a quadratic optimization problem with a linear constraint. This leads to the definition of the Lagrangian screw, which is shown to be an important geometrical tool for analysis. The geometrical meaning of the distributed wrench field is explained in terms of the Lagrangian screw. Examples show that several previous investigations in the literature may be included as special cases

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.