運動空間と拘束空間の基底の性質(機械力学,計測,自動制御)

概要

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A relationship between a motion space and a constraint space is studied and a method for determination of their bases in order to represent vectors of velocities (twists) and forces (wrenches) in a computer program has been developed. The reciprocal product, which is a bilinear form, between a velocity space and a force space determines the relationship of reciprocal spaces which is invariant to the coordinate transformation. It is shown that the bases of a velocity space and a force space must be determined based only on this characteristic, but the selection of suitable reference coordinate systems helps to determine simple bases. As an example, the force analysis of a mechanism having multiple loops with different Lie algebras is discussed and it is shown that the representation of velocities and forces by means of the bases thus determined is effective for the analysis.
一般社団法人日本機械学会の論文
2002-11-25