Abstract
This paper introduces dual bases of screw-vectors, which are associated with the dual spaces of wrenches and twists. Dual bases are required in order to express general coordinates functions and transformations of screw-vectors. Analytical and geometrical methods for determining dual bases are proposed and applied to inverse kinestatic problems.
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Bidard, C. (1994). Dual Basis of Screw-Vectors for Inverse Kinestatic Problems in Robotics. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_34
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DOI: https://doi.org/10.1007/978-94-015-8348-0_34
Publisher Name: Springer, Dordrecht
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