Hyperbolic Pseudoinverses for Kinematics in the Euclidean Group

DOI10.1137/16M1090971zbMath1377.70004arXiv1711.07560MaRDI QIDQ4598342

J. M. Selig, Peter S. Donelan

Publication date: 20 December 2017

Published in: SIAM Journal on Matrix Analysis and Applications (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1711.07560

zbMATH Keywords

indefinite inner productpseudoinversescrew systemEuclidean groupmanipulator Jacobian

Mathematics Subject Classification ID

Theory of matrix inversion and generalized inverses (15A09) Kinematics of mechanisms and robots (70B15) Lie algebras of linear algebraic groups (17B45)

Related Items (1)

On orientation, position, and attitude singularities of general 3R chains

Cites Work

• First-order invariants of Euclidean motions
• On the hierarchy of screw systems
• Generalized inverses. Theory and applications.
• Unitary equivalence in an indefinite scalar product: An analogue of singular-value decomposition
• Existence of the hyperbolic singular value decomposition
• Moore-Penrose inverse in an indefinite inner product space
• Normal matrices and polar decompositions indefinite inner products
• Geometric Fundamentals of Robotics
• Algorithms in invariant theory
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