A Theoretical Dynamical Noninteracting Model for General Manipulation Systems Using Axiomatic Geometric Structures

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

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This paper presents a new theoretical approach to the study of robotics manipulators dynamics. It is based on the well-known geometric approach to system dynamics, according to which some axiomatic definitions of geometric structures concerning invariant subspaces are used. In such a framework, certain typical problems in robotics are mathematically formalised and analysed in axiomatic form. The outcomes are sufficiently general that it is possible to discuss the structural properties of robotic manipulation. A generalized theoretical linear model is used, and a thorough analysis is made. The noninteracting nature of this model is also proven through a specific theorem.

OriginalspracheEnglisch
Aufsatznummer309
ZeitschriftAxioms
Jahrgang11
Ausgabenummer7
Anzahl der Seiten24
DOIs
PublikationsstatusErschienen - 01.07.2022

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