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

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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.

Original languageEnglish
Article number309
Issue number7
Number of pages24
Publication statusPublished - 01.07.2022

Bibliographical note

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© 2022 by the authors. Licensee MDPI, Basel, Switzerland.

    Research areas

  • geometric approach, manipulation system, noninteraction
  • Engineering