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Proceedings Papers

An Unified Approach for the Determination of Instantaneous Screw Axes for Linkages Associated With the Euclidean Group and Its Subgroups

José M. Rico, Juan Ignacio Valderrama Rodríguez, J. Jesús Cervantes-Sánchez, Fernando Tomás Pérez Zamudio
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A080, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90782
https://doi.org/10.1115/DETC2022-90782
View Paper titled, An Unified Approach for the Determination of Instantaneous Screw Axes for Linkages Associated With the Euclidean Group and Its Subgroups
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Topics: Linkages, Screws, Lie algebras, Theorems (Mathematics)
Proceedings Papers

A Coordinate Invariant Formulation of the Dynamics of Cooperating Robot Systems

Scott R. Ploen, Frank C. Park
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A036, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1160
https://doi.org/10.1115/96-DETC/MECH-1160
View Paper titled, A Coordinate Invariant Formulation of the Dynamics of Cooperating Robot Systems
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Topics: Dynamics (Mechanics), Robots, Equations of motion, Chain, Gravity (Force), Kinematics, Lie algebras, Robot dynamics, Transparency
Proceedings Papers

Singularity and Controllability Analysis of Parallel Manipulators

Prasun Choudhury, Ashitava Ghosal
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A024, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5958
https://doi.org/10.1115/DETC98/MECH-5958
View Paper titled, Singularity and Controllability Analysis of Parallel Manipulators
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Topics: Manipulators, Actuators, Degrees of freedom, Equations of motion, Kinematics, Lie algebras
Proceedings Papers

Optimal Motions for Underactuated Manipulators

Garett A. Sohl, James E. Bobrow
Proc. ASME. DETC99, Volume 7A: 17th Biennial Conference on Mechanical Vibration and Noise, 519-527, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/VIB-8242
https://doi.org/10.1115/DETC99/VIB-8242
View Paper titled, Optimal Motions for Underactuated Manipulators
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Topics: Manipulators, Algorithms, Chain, Dynamics (Mechanics), Optimal control, Optimization, Lie algebras
Proceedings Papers

Rigid Body Dynamical Equations With Lie Algebra

Krishna C. Gupta
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1019-1023, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14163
https://doi.org/10.1115/DETC2000/MECH-14163
View Paper titled, Rigid Body Dynamical Equations With Lie Algebra
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Topics: Lie algebras, Center of mass, Inertia (Mechanics)
Proceedings Papers

Constraint Representation Based on Lie Algebra in a Kinematic Model and Synthesis of Mechanisms

Hitoshi Tokunaga, Satoshi Imamura
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1461-1469, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14215
https://doi.org/10.1115/DETC2000/MECH-14215
View Paper titled, Constraint Representation Based on Lie Algebra in a Kinematic Model and Synthesis of Mechanisms
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Topics: Algebra, Conceptual design, Degrees of freedom, Kinematics, Lie algebras, Mechanical products
Proceedings Papers

A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE (3) and its Subspaces

A. J. Sánchez-García, J. M. Rico, J. J. Cervantes-Sánchez, P. C. López-Custodio
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A092, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22456
https://doi.org/10.1115/DETC2020-22456
View Paper titled, A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE (3) and its Subspaces
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Topics: Lie algebras, Mechanical admittance, Kinematics, Screws
Proceedings Papers

A New Look to the Three Axes Theorem

Juan Ignacio Valderrama-Rodríguez, José M. Rico, J. Jesús Cervantes-Sánchez, Fernando Tomás Pérez-Zamudio
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A062, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97443
https://doi.org/10.1115/DETC2019-97443
View Paper titled, A New Look to the Three Axes Theorem
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Topics: Theorems (Mathematics), Algebra, Kinematic chains, Lie algebras
Proceedings Papers

Kinematics Analysis of a Snake Robot Module Using Screw Theory

Qing Xiao, Zhengcai Cao, Jian S. Dai
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A057, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59273
https://doi.org/10.1115/DETC2016-59273
View Paper titled, Kinematics Analysis of a Snake Robot Module Using Screw Theory
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Topics: Kinematics, Robots, Screws, Mechanical admittance, Anatomy, Bionics, Lie algebras, Motion control, Parallel mechanisms, Redundancy (Engineering)
Proceedings Papers

A Lie Group Formulation of the Newton-Euler Equations and its Application to Robot Dynamics

Genliang Chen, Hao Wang, Yong Zhong, Haidong Yu
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A021, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47221
https://doi.org/10.1115/DETC2015-47221
View Paper titled, A Lie Group Formulation of the Newton-Euler Equations and its Application to Robot Dynamics
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Topics: Robot dynamics, Screws, Dynamics (Mechanics), Kinematics, Lie algebras, Robot kinematics, Robots, Rotation, System dynamics, Virtual work principle
Proceedings Papers

Redundancy-Free Integration of Rotational Quaternions in Minimal Form

Zdravko Terze, Andreas Mueller, Dario Zlatar
Proc. ASME. IDETC-CIE2014, Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A017, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35118
https://doi.org/10.1115/DETC2014-35118
View Paper titled, Redundancy-Free Integration of Rotational Quaternions in Minimal Form
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Topics: Redundancy (Engineering), Algorithms, Rotational dynamics, Algebra, Dynamics (Mechanics), Kinematics, Lie algebras, Rotation
Proceedings Papers

Screw Systems Generated by Subalgebras: A Further Analysis

A. Tadeo-Cha´vez, J. M. Rico, J. J. Cervantes-Sa´nchez, G. I. Pe´rez-Soto, A. Mu¨ller
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1037-1049, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48304
https://doi.org/10.1115/DETC2011-48304
View Paper titled, Screw Systems Generated by Subalgebras: A Further Analysis
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Topics: Screws, Design, Kinematic chains, Kinematics, Lie algebras
Proceedings Papers

Screw Systems Generated From Subalgebras: Properties and Applications

J. M. Rico, J. J. Cervantes-Sa´nchez, A. Tadeo-Cha´vez, G. I. Pe´rez-Soto
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1781-1790, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-29148
https://doi.org/10.1115/DETC2010-29148
View Paper titled, Screw Systems Generated From Subalgebras: Properties and Applications
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Topics: Screws, Kinematic chains, Lie algebras, Mechanical admittance
Proceedings Papers

Infinitesimal Kinematics Methods in the Mobility Determination of Kinematic Chains

J. M. Rico, J. J. Cervantes, A. Tadeo, J. Gallardo, L. D. Aguilera, C. R. Diez
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 1195-1204, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86489
https://doi.org/10.1115/DETC2009-86489
View Paper titled, Infinitesimal Kinematics Methods in the Mobility Determination of Kinematic Chains
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Topics: Kinematic chains, Kinematics, Mechanical admittance, Lie algebras
Proceedings Papers

Effect of the Spatial Extent of the Control in a Bilinear Control Problem for the Schroedinger Equation

Katherine A. Kime
Proc. ASME. IDETC-CIE2009, Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C, 529-534, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86440
https://doi.org/10.1115/DETC2009-86440
View Paper titled, Effect of the Spatial Extent of the Control in a Bilinear Control Problem for the Schroedinger Equation
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Topics: Schrödinger equation, Lie algebras, Geometry
Proceedings Papers

Robustness and Controllability Analysis for Autonomous Navigation of Two-Wheeled Mobile Robots

Alessio Salerno, Jorge Angeles
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 897-903, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35415
https://doi.org/10.1115/DETC2007-35415
View Paper titled, Robustness and Controllability Analysis for Autonomous Navigation of Two-Wheeled Mobile Robots
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Topics: Mobile robots, Navigation, Robustness, Robots, Dynamics (Mechanics), Uncertainty, Equilibrium (Physics), Kinematics, Lie algebras
Proceedings Papers

Control Lie Algebras of Semi-Discretizations of the Schroedinger Equation

Katherine A. Kime
Proc. ASME. IDETC-CIE2007, Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 643-650, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35105
https://doi.org/10.1115/DETC2007-35105
View Paper titled, Control Lie Algebras of Semi-Discretizations of the Schroedinger Equation
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Topics: Lie algebras, Schrödinger equation, Spacetime
Proceedings Papers

A Method to Solve Inverse Kinematics Problems Using Lie Algebra and Its Application to Robot Spray Painting Simulation

Hitoshi Tokunaga, Takaaki Okano, Norio Matsuki, Fumiki Tanaka, Takeshi Kishinami
Proc. ASME. IDETC-CIE2004, Volume 1: 30th Design Automation Conference, 85-91, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57086
https://doi.org/10.1115/DETC2004-57086
View Paper titled, A Method to Solve Inverse Kinematics Problems Using Lie Algebra and Its Application to Robot Spray Painting Simulation
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Topics: Interpolation, Kinematics, Lie algebras, Painting, Robots, Simulation, Sprays
Proceedings Papers

A More General Mobility Criterion for Parallel Platforms

J. M. Rico, L. D. Aguilera, J. Gallardo, R. Rodriguez, H. Orozco, J. M. Barrera
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 163-184, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57064
https://doi.org/10.1115/DETC2004-57064
View Paper titled, A More General Mobility Criterion for Parallel Platforms
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Topics: Mechanical admittance, Degrees of freedom, Manipulators, Algebra, Kinematics, Lie algebras, Screws
Proceedings Papers

Reconfiguration of Kinematic Structure for Changing Motion Requirement Based on Reusability Evaluation in Lie Algebra

Hitoshi Tokunaga, Norio Matsuki, Satoshi Imamura, Fumiki Tanaka, Takeshi Kishinami
Proc. ASME. IDETC-CIE2002, Volume 2: 28th Design Automation Conference, 161-168, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/DAC-34052
https://doi.org/10.1115/DETC2002/DAC-34052
View Paper titled, Reconfiguration of Kinematic Structure for Changing Motion Requirement Based on Reusability Evaluation in Lie Algebra
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Topics: Kinematics, Lie algebras