A Theoretical Dynamical Noninteracting Model for General Manipulation Systems Using Axiomatic Geometric Structures
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In: Axioms, Vol. 11, No. 7, 309, 01.07.2022.
Research output: Journal contributions › Journal articles › Research › peer-review
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TY - JOUR
T1 - A Theoretical Dynamical Noninteracting Model for General Manipulation Systems Using Axiomatic Geometric Structures
AU - Mercorelli, Paolo
N1 - Publisher Copyright: © 2022 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2022/7/1
Y1 - 2022/7/1
N2 - 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.
AB - 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.
KW - geometric approach
KW - manipulation system
KW - noninteraction
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85133265738&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/6b6567b3-d859-3038-a2fa-a2bfd995b8dd/
U2 - 10.3390/axioms11070309
DO - 10.3390/axioms11070309
M3 - Journal articles
AN - SCOPUS:85133265738
VL - 11
JO - Axioms
JF - Axioms
SN - 2075-1680
IS - 7
M1 - 309
ER -