Abstract: Three necessary conditions derived from classical geometry are proposed to evaluate formulations for the simultaneous twist and wrench control of rigid bodies, and for any theory to be meaningful ...

Abstract: The nature and invariant properties of the elliptic polarity of screws in Euclidean space is established using a novel series of mappings, central to which is a quaternion representation. The ...

Abstract: The structure of nonsingular robot compliance is investigated by applying screw theory to two eigenvalue problems. For the first problem the eigenscrews are demonstrated to be Ball’s (1990) ...

Abstract: The concept of compliant axes is developed from the compliance matrix eigenvalue problem. It is shown that the necessary and sufficient conditions for the existence of a compliant axis are two ...

Abstract: Kinematic singularities are important considerations in the design and control of robotic manipulators. For six degree-of-freedom manipulators, the vanishing of the determinant of the Jacobian ...

Abstract: A new method exploiting complex numbers in the inverse kinematic solution of serial robotic manipulators is presented. If a prescribed end effector location is outside of the manipulator workspace, ...