58 citations · 127 across the 4 of their papers we have counts for
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A note on the motion representation and configuration update in time stepping schemes for the constrained rigid body
A. Müller
The dynamics of a holonomically constrained rigid body can be modeled by Newton-Euler equations subjected to geometric constraints. This is frequently formulated as a differential-…
An Overview of Formulae for the Higher-Order Kinematics of Lower-Pair Chains with Applications in Robotics and Mechanism Theory
Andreas Mueller
The motions of mechanisms can be described in terms of screw coordinates by means of an exponential mapping. The product of exponentials (POE) describes the configuration of a chai…
Forward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation
Andreas Mueller
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts…
On the Terminology and Geometric Aspects of Redundant Parallel Manipulators
Andreas Mueller
Parallel kinematics machines (PKM) can exhibit kinematic as well as actuation redundancy. While the meaning of kinematic redundancy has been clarified already for serial manipulato…
Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage
Andreas Mueller
This paper revisits a three-loop spatial linkage that was proposed in an ARK 2004 paper by Karl Wohlhart (as extension of a two-loop linkage proposed by Eddie Baker in 1980) and la…
A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of parallel Kinematic Manipulators
Andreas Mueller, Shivesh Kumar, Thomas Kordik
Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics s…