Geometric characterization of the workspace of non-orthogonal rotation axes

DOI10.3934/jgm.2014.6.141zbMath1304.70003OpenAlexW2334680263MaRDI QIDQ2514331

Bertold Bongardt

Publication date: 3 February 2015

Published in: Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.3934/jgm.2014.6.141

zbMATH Keywords

singularity analysiskinematic analysisrotation representationnon-orthogonal Euler anglesrotation decomposition

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10) Applications of Lie groups to the sciences; explicit representations (22E70) Matrix exponential and similar functions of matrices (15A16)

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The adjoint trigonometric representation of displacements and a closed‐form solution to the IKP of general 3C chains, On orientation, position, and attitude singularities of general 3R chains

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