A Theoretical Dynamical Noninteracting Model for General Manipulation Systems Using Axiomatic Geometric Structures
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, cert...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-06-01
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| Series: | Axioms |
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| Online Access: | https://www.mdpi.com/2075-1680/11/7/309 |
| Summary: | 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. |
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| ISSN: | 2075-1680 |