The differential calculus of screws: theory, geometrical interpretation, and applications (Record no. 47299)

MARC details
000 -LEADER
fixed length control field 02556nam a2200205Ia 4500
003 - CONTROL NUMBER IDENTIFIER
control field MX-MdCICY
005 - DATE AND TIME OF LATEST TRANSACTION
control field 20250625153916.0
040 ## - CATALOGING SOURCE
Transcribing agency CICY
090 ## - LOCALLY ASSIGNED LC-TYPE CALL NUMBER (OCLC); LOCAL CALL NUMBER (RLIN)
Classification number (OCLC) (R) ; Classification number, CALL (RLIN) (NR) B-13097
008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION
fixed length control field 250602s9999 xx |||||s2 |||| ||und|d
245 10 - TITLE STATEMENT
Title The differential calculus of screws: theory, geometrical interpretation, and applications
490 0# - SERIES STATEMENT
Volume/sequential designation Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 223(6), p.1449-1468, 2009
520 3# - SUMMARY, ETC.
Summary, etc. This article presents a novel and original formula for the higher-order time derivatives, and also for the partial derivatives of screws, which are successively computed in terms of Lie products, thus leading to the automation of the differentiation process. Through the process and, due to the pure geometric nature of the derivation approach, an enlightening physical interpretation of several screw derivatives is accomplished. Important applications for the proposed formula include higher-order kinematic analysis of open and closed kinematic chains and also the kinematic synthesis of serial and parallel manipulators. More specifically, the existence of a natural relationship is shown between the differential calculus of screws and the Lie subalgebras associated with the expected finite displacements of the end effector of an open kinematic chain. In this regard, a simple and comprehensible methodology is obtained, which considerably reduces the abstraction level frequently requiredwhenone resorts tomore abstract concepts, such as Lie groups or Lie subalgebras; thus keeping the required mathematical background to the extent that is strictly necessary for kinematic purposes. Furthermore, by following the approach proposed in this article, the elements of Lie subalgebra arise in a natural way - due to the corresponding changes in screws through time - and they also have the typical shape of the so-called ordered Lie products that characterize those screws that are compatible with the feasible joint displacements of an arbitrary serial manipulator. Finally, several application examples - involving typical, serial manipulators - are presented in order to prove the feasibility and validity of the proposed method.
700 12 - ADDED ENTRY--PERSONAL NAME
Personal name Cervantes-Sanchez, J.J.
700 12 - ADDED ENTRY--PERSONAL NAME
Personal name Rico-Martinez, J.M.
700 12 - ADDED ENTRY--PERSONAL NAME
Personal name Gonzalez-Montiel, G.
700 12 - ADDED ENTRY--PERSONAL NAME
Personal name Gonzalez-Galvan, E J
856 40 - ELECTRONIC LOCATION AND ACCESS
Uniform Resource Identifier <a href="https://drive.google.com/file/d/1tuDa3LNWTQXxadRpSwxrvSSWjTvEUfCW/view?usp=drivesdk">https://drive.google.com/file/d/1tuDa3LNWTQXxadRpSwxrvSSWjTvEUfCW/view?usp=drivesdk</a>
Public note Para ver el documento ingresa a Google con tu cuenta: @cicy.edu.mx
942 ## - ADDED ENTRY ELEMENTS (KOHA)
Source of classification or shelving scheme Clasificación local
Koha item type Documentos solicitados
Holdings
Lost status Source of classification or shelving scheme Damaged status Not for loan Collection Home library Current library Shelving location Date acquired Total checkouts Full call number Date last seen Price effective from Koha item type
  Clasificación local     Ref1 CICY CICY Documento préstamo interbibliotecario 25.06.2025   B-13097 25.06.2025 25.06.2025 Documentos solicitados