NDLI: Improved screw theory using second order terms

Content Provider	IEEE Xplore Digital Library
Author	Takamatsu, J. Kimura, H. Ikeuchi, K.
Copyright Year	2002
Abstract	The local displacement of an object is very useful for deciding grasp stability, generating trajectories, recognizing assembly tasks, and so on. To calculate this displacement, the screw theory is employed. It is equivalent to the first order Taylor expansion of the displacement. The screw theory is very convenient, because the displacement is formulated as simultaneous linear inequalities, and a powerful tool to calculate such inequalities, the theory of the polyhedral convex cones, has already been established. However, truncation errors introduced by first order approximations sometimes cause mistaken results. In this paper, we improve the screw theory by using 2nd order terms and verify the validity of the result.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. INRIA Rhone-Alpes Grenoble EPFL Lausanne
Starting Page	1614
Ending Page	1618
File Size	410673
Page Count	5
File Format	PDF
ISBN	0780373987
DOI	10.1109/IRDS.2002.1043986
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-09-30
Publisher Place	Switzerland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fasteners Stability Assembly Taylor series Finite wordlength effects H infinity control Equations
Content Type	Text
Resource Type	Article

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Improved screw theory using second order terms