caa a22 4500 463183827 CHVBK 20180406164846.0 cr unu---uuuuu 170326e20070801xx s 000 0 eng 10.1007/s10492-007-0016-3 doi (NATIONALLICENCE)springer-10.1007/s10492-007-0016-3 Bakša Ján Faculty of Wood Sciences and Technology, Department of Mathematics and Descriptive Geometry, Technical University in Zvolen, T. G. Masaryka 24, 960 53, Zvolen, Slovak Republic aut Three-parametric robot manipulators with parallel rotational axes [Elektronische Daten] [Ján Bakša] The paper deals with asymptotic motions of 3-parametric robot manipulators with parallel rotational axes. To describe them we use the theory of Lie groups and Lie algebras. An example of such motions are motions with the zero Coriolis accelerations. We will show that there are asymptotic motions with nonzero Coriolis accelerations. We introduce the notions of the Klein subspace, the Coriolis subspace and show their relation to asymptotic motions of robot manipulators. The asymptotic motions are introduced without explicit use of the Levi-Civita connection. Mathematical Institute, Academy of Sciences of Czech Republic, 2007 local differential geometry nationallicence robotics nationallicence Lie algebra nationallicence asymptotic motion nationallicence Applications of Mathematics Springer-Verlag 52/4(2007-08-01), 303-319 0862-7940 52:4<303 2007 52 10492 https://doi.org/10.1007/s10492-007-0016-3 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s10492-007-0016-3 text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Bakša Ján Faculty of Wood Sciences and Technology, Department of Mathematics and Descriptive Geometry, Technical University in Zvolen, T. G. Masaryka 24, 960 53, Zvolen, Slovak Republic aut NATIONALLICENCE 773 0- Applications of Mathematics Springer-Verlag 52/4(2007-08-01), 303-319 0862-7940 52:4<303 2007 52 10492 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer