Group-theoretical methods in manipulator kinematics and symbolic computations

DOI10.1007/BF01258638MaRDI QIDQ1308964zbMATH OpenFDO

Authors Clementina Mladenova

Publication date 18 January 1994

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/BF01258638

zbMATH Keywords

direct kinematical problemgroup configurational manifoldinverse kinematical problemLie grouprobot controlSO(3) groupvector parametrization

Mathematics Subject Classification ID

Symbolic computation and algebraic computation (68W30) Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators
• scientific article; zbMATH DE number 3945391 (Why is no real title available?)
• scientific article; zbMATH DE number 150464 (Why is no real title available?)
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• scientific article; zbMATH DE number 3108949 (Why is no real title available?)
• Method of moments in problems of dynamics of systems with randomly varying parameters

Cited in

(6)

• From the kinematics of precession motion to generalized Rabi cycles
• Robotic problems over a configurational manifold of vector parameters and dual vector parameters
• Application of the group and geometrical properties of \(E(3)\) to the problems of rigid-body systems
• A catalog of inverse-kinematics planners for underactuated systems on matrix groups
• Geometric methods and formulations in computational multibody system dynamics
• Number synthesis of kinematic chains based on permutation groups

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