Geometric Fundamentals of Robotics
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Ball pointClifford algebradifferential geometric methodsEuler-Savaray classificationGibson-Hunt classificationinverse kinematicsJacobiansLie groupsReuleaux pairsroboticsruled surfacesScrew systemsspace of wrenches
Applications of differential geometry to physics (53Z05) Kinematics of a rigid body (70B10) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65) Dynamic lattice systems (kinetic Ising, etc.) and systems on graphs in time-dependent statistical mechanics (82C20) Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02) Automated systems (robots, etc.) in control theory (93C85)
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(only showing first 100 items - show all)- The rational motion of minimal dual quaternion degree with prescribed trajectory
- Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems
- Kinematic optimal design of a 2-DoF parallel positioning mechanism employing geometric algebra
- Some variations of dual Euler-Rodrigues formula with an application to point-line geometry
- Analytical mobility analysis of Bennett linkage using geometric algebra
- Incidences between points and lines on two- and three-dimensional varieties
- Screw and Lie group theory in multibody dynamics
- Symmetric subspaces of \(\mathrm{SE}(3)\)
- Factorization results for left polynomials in some associative real algebras: state of the art, applications, and open questions
- Formulation and simulations of the conserving algorithm for feedback stabilization on rigid body rotations
- On the number of incidences between points and planes in three dimensions
- Factorization of motion polynomials
- On incidences of lines in regular complexes
- Inverse kinematics of a 7R 6-DOF robot with nonspherical wrist based on transformation into the 6R robot
- Kinematic interpretation of Darboux cyclides
- Compactification of the group of rigid motions and applications to robotics
- On the Hamel coefficients and the Boltzmann-Hamel equations for the rigid body
- Modal reduction procedures for flexible multibody dynamics
- Projective metric geometry and Clifford algebras
- Closed-form time derivatives of the equations of motion of rigid body systems
- Affine spinor decomposition in three-dimensional affine geometry
- Points in the plane, lines in space
- Synthesis of planar stiffness
- On orientation, position, and attitude singularities of general 3R chains
- Rational framing motions and spatial rational Pythagorean hodograph curves
- Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators
- The study variety of conformal kinematics
- On plane-symmetric rigid-body motions
- Self-reverse elements and lines in an algebra for 3D space
- Rigid body dynamics using equimomental systems of point-masses
- Modeling viscoelastic behavior in flexible multibody systems
- Geometrically exact thin-walled beam including warping formulated on the special Euclidean group SE(3)
- An algebraic study of linkages with helical joints
- Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators
- The equations of motion for a rigid body using non-redundant unified local velocity coordinates
- Rational motions with generic trajectories of low degree
- The decoupling of the Cartesian stiffness matrix in the design of microaccelerometers
- Hybrid kinematic control for rigid body pose stabilization using dual quaternions
- Geometric algebras for Euclidean geometry
- CGA-based robotic snake control
- Geometric control of the trident snake robot based on CGA
- Doing Euclidean plane geometry using projective geometric algebra
- Higher-order constraints for higher kinematic pairs and their application to mobility and shakiness analysis of mechanisms
- Geometric and numerical foundations of movements
- Geometric characterization of the workspace of non-orthogonal rotation axes
- New sum-product type estimates over finite fields
- Invariants of the k-fold adjoint action of the Euclidean isometry group
- Geometric algebra of singular ruled surfaces
- Factorization of dual quaternion polynomials without study's condition
- Set-valued state estimation of nonlinear discrete-time systems with nonlinear invariants based on constrained zonotopes
- Robust H_ kinematic control of manipulator robots using dual quaternion algebra
- Symmetries in geometric control theory using Maple
- Positive dimensional parametric polynomial systems, connectivity queries and applications in robotics
- Classification of higher mobility closed-loop linkages
- On the use of the Klein quadric for geometric incidence problems in two dimensions
- Planar linkages following a prescribed motion
- Fundamentals of quaternionic kinematics in Euclidean 4-space
- Numerical algebraic geometry and algebraic kinematics
- scientific article; zbMATH DE number 4176519 (Why is no real title available?)
- A note on the motion representation and configuration update in time stepping schemes for the constrained rigid body
- Control of 3-link robotic snake based on conformal geometric algebra
- Kinematic mappings for Cayley-Klein geometries via Clifford algebras
- Generic singular configurations of linkages
- scientific article; zbMATH DE number 1061391 (Why is no real title available?)
- Rigid body trajectories in different 6D spaces
- From A to B: new methods to interpolate two poses
- The number of realizations of a Laman graph
- Hyperbolic pseudoinverses for kinematics in the Euclidean group
- Local controllability of trident snake robot based on sub-Riemannian extremals
- On geometric control models of a robotic snake
- On the line geometry of rigid-body inertia
- The theory of bonds. II: Closed 6R linkages with maximal genus
- A smart robot's geometric model inverting system
- scientific article; zbMATH DE number 867234 (Why is no real title available?)
- Configuration spaces of spatial linkages: Taking Collisions Into Account
- Zeros of slice functions and polynomials over dual quaternions
- Dual quaternions and dual quaternionic curves
- IMA conference on mathematics of robotics, Oxford, UK, September 9--11, 2015
- Sampling and homology via bottlenecks
- Geometric algebra applications Vol. II. Robot modelling and control
- Kinematic comparison of exponential and Cayley maps in the planar motion group
- Algebraic geometry for robotics and control theory
- Algebraic Geometry and Kinematics
- Lie groups and Lie algebras in robotics
- A proof of the molecular conjecture
- Half-turns and line symmetric motions
- Line-symmetric motions with respect to reguli
- And yet it moves: paradoxically moving linkages in kinematics
- Generalized elliptical quaternions with some applications
- Reflections in conics, quadrics and hyperquadrics via Clifford algebra
- A unified approach to input-output linearization and concurrent control of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints
- Isosceles tetrahedron and an equimomental system of a rigid body
- Equimomental systems representations of point-masses of planar rigid-bodies
- Conelike radiant structures
- Local control of 2-link robotic worms based on additional symmetries
- High-order inverse dynamics of serial robots based on projective geometric algebra
- Symmetric configuration spaces of linkages
- Connections between matrix products for 3-vectors and geometric algebra
- Persistent rigid-body motions on slant helices
- The adjoint trigonometric representation of displacements and a closed‐form solution to the IKP of general 3C chains
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