Geometric characterization of the workspace of non-orthogonal rotation axes

DOI10.3934/JGM.2014.6.141MaRDI QIDQ2514331zbMATHOpenAlexFDO

Authors 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

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

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Cites work

• scientific article; zbMATH DE number 1235358 (Why is no real title available?)
• scientific article; zbMATH DE number 3008446 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• A new and efficient algorithm for the inverse kinematics of a general serial \(6R\) manipulator
• A unified input-output analysis of four-bar linkages
• Application of Dual-Number Quaternion Algebra to the Analysis of Spatial Mechanisms
• Geometric Fundamentals of Robotics
• Naive Lie Theory
• Rotations about nonorthogonal axes.
• The vectorial parameterization of rotation
• Vector decomposition of finite rotations

Cited in

(2)

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

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