Robot grasping and regrasping kinematics using Lie algebra, the geodesic, and Riemann curvature tensor

Basit Öğe Kaydı
dc.contributor.authorŞahin, Haydar
dc.date.accessioned2024-06-13T20:18:28Z
dc.date.available2024-06-13T20:18:28Z
dc.date.issued2023
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description.abstractDifferential geometry is a strong and highly effective mathematical subject for robot grip-per design when grasping within the predetermined trajectories of path planning. This study in grasping focuses on differential geometry analysis utilizing the Lie algebra, geodesic, and Riemann Curvature Tensors (RCT). The novelty of this article for 2RR robot mechanisms lies in the approach of the body coordinate with the geodesic and RCT. The importance of this research is significant especially in grasping and regrasping objects with varied shapes. In this article, the types of workspaces are clarified and classified for grasping and regrasping kinematics. The regrasp has not been sufficiently investigated of body coordinate systems in Lie algebra. The reason for this is the difficulty in understanding relative coordinates in Lie algebra via the body coordinate system. The complexity of the equations has not allowed many researchers to overcome this challenge. The symbolic mathematics toolbox in the Maxima, on the other hand, aided in the systematic formulation of the workspaces in Lie algebra with geodesic and RCT.The Lie algebra se(3) equations presented here have already been developed for robot kinematics from many references. These equations will be used to derive the following workspace types for grasping and regrasping. Body coordinate workspace, spatial coordinate workspace with constraints, body coordinate workspace with constraints, spatial coordinate workspace with constraints are the workspace types. The RCT and geodesic solutions exploit these four fundamental workspace equations derived using Lie algebra.
dc.identifier.doi10.24425/acs.2023.145111
dc.identifier.endpage23
dc.identifier.issn2300-2611
dc.identifier.issue1
dc.identifier.scopus2-s2.0-85159169200
dc.identifier.scopusqualityQ3
dc.identifier.startpage5
dc.identifier.urihttps://doi.org/10.24425/acs.2023.145111
dc.identifier.urihttps://hdl.handle.net/11501/1391
dc.identifier.volume33
dc.identifier.wosWOS:000963869100001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorŞahin, Haydar
dc.language.isoen
dc.publisherPolska Akad Nauk, Polish Acad Sciences
dc.relation.ispartofArchives of Control Sciences
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectBody Coordinate Workspace
dc.subjectSpatial Coordinate Workspace
dc.subjectRegrasp Planning
dc.subjectMechanism
dc.subjectDifferential Geometry
dc.titleRobot grasping and regrasping kinematics using Lie algebra, the geodesic, and Riemann curvature tensor
dc.typeArticle

Dosyalar

Orijinal paket
Listeleniyor 1 - 1 / 1
Küçük Resim
İsim:
Tam Metin / Full Text
Boyut:
842.56 KB
Biçim:
Adobe Portable Document Format
İndir

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Mühendislik Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu