Geodesic
Neutral wrenches of 3-parametric robot-manipulators of the spherical rank 1
Applications of Mathematics, Tome 56 (2011) no. 4, pp. 405-416.

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Let $SE(3)$ be the Lie group of all Euclidean motions in the Euclidean space $E_{3}$, let $se(3)$ be its Lie algebra and $se^{*} (3)$ the space dual to $se(3)$. This paper deals with structures of the subspaces of $se^{*} (3)$ which are formed by all the forces whose power exerted on the robot effector is zero.
DOI : 10.1007/s10492-011-0023-2
Classification : 70E60, 70G65
Keywords: robotics; Lie algebra; twist; wrench 
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Bakšová, Marta. Neutral wrenches of 3-parametric robot-manipulators of the spherical rank 1. Applications of Mathematics, Tome 56 (2011) no. 4, pp. 405-416. doi : 10.1007/s10492-011-0023-2. http://geodesic.mathdoc.fr/articles/10.1007/s10492-011-0023-2/

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