Comptes Rendus
L'espace articulaire de la Robotique Industrielle est un espace vectoriel
[Industrial Robotics joint space is a vector space]
Comptes Rendus. Mécanique, Volume 331 (2003) no. 5, pp. 357-364.

The mathematical modelling of industrial robots is based on the vectorial nature of the n-dimensional joint space of the robot, defined as a kinematic chain with n degrees of freedom. However, in our opinion, the vectorial nature of the joint space has been insufficiently discussed in the literature. We establish the vectorial nature of the joint space of an industrial robot from the fundamental studies of B. Roth on screws.

La modélisation mathématique des robots industriels est fondée sur la nature vectorielle de l'espace articulaire à n dimensions du robot défini comme chaı̂ne cinématique à n degrés de liberté. Or, à notre avis, la nature vectorielle de cet espace articulaire n'a pas été suffisamment discutée dans la littérature. Nous établissons la nature vectorielle de l'espace articulaire de la robotique industrielle à partir des études fondamentales de B. Roth sur les vissages.

Received:
Accepted:
Published online:
DOI: 10.1016/S1631-0721(03)00074-3
Mot clés : Robotique, Robotique industrielle, Espace articulaire, Preuve de Roth
Keywords: Robotics, Industrial robotics, Joint space, Roth's proof

Bertrand Tondu 1

1 Laboratoire d'étude des systèmes informatiques et automatiques, institut national de sciences appliquées, campus de Rangueil, 31077 Toulouse, France
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Bertrand Tondu. L'espace articulaire de la Robotique Industrielle est un espace vectoriel. Comptes Rendus. Mécanique, Volume 331 (2003) no. 5, pp. 357-364. doi : 10.1016/S1631-0721(03)00074-3. https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.1016/S1631-0721(03)00074-3/

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