Inverse dynamics of parallel robots: a tutorial with Lie algebra
Publicated to:Revista Iberoamericana De Automatica E Informatica Industrial. 20 (4): 327-346 - 2023-01-01 20(4), DOI: 10.4995/riai.2023.18356
Authors: Yime, E; Saltarén, R; Roldáan, J
Affiliations
Abstract
The kinematics and dynamics of parallel mechanisms is a field of research where mechanisms analysis are traditionally carried out using the screw theory. In this article an alternative approach based on group theory and Lie algebra is presented, where both methods, group theory and Lie algebra, are successfully used in the analysis of open kinematic chains. The article begins with a brief introduction to open kinematic chains and its Lie algebra, and later extends the analysis to parallel mechanisms. The article has been written using only traditional vectors an matrices algebra, with the aim of covering the largest number of researchers in the field of Robotics. Typical examples of parallel robots are analyzed in the form of a tutorial, among which are the five-bar mechanism, the spatial four-bar mechanism and the planar 3-RRR robot. It is hoped that the practical approach given to this article will contribute to promoting the use of Lie algebra for the kinematic and dynamic analysis of parallel mechanisms.
Keywords
Quality index
Bibliometric impact. Analysis of the contribution and dissemination channel
The work has been published in the journal Revista Iberoamericana De Automatica E Informatica Industrial due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2023, it was in position , thus managing to position itself as a Q2 (Segundo Cuartil), in the category . Notably, the journal is positioned en el Cuartil Q4 for the agency WoS (JCR) in the category Automation & Control Systems.
Independientemente del impacto esperado determinado por el canal de difusión, es importante destacar el impacto real observado de la propia aportación.
Según las diferentes agencias de indexación, el número de citas acumuladas por esta publicación hasta la fecha 2025-07-16:
- WoS: 4
- Scopus: 4
Impact and social visibility
Leadership analysis of institutional authors
This work has been carried out with international collaboration, specifically with researchers from: Colombia.