Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group

DOI10.36890/iejg.699429zbMath1467.53013OpenAlexW3009713898WikidataQ115484673 ScholiaQ115484673MaRDI QIDQ5147068

Soner Erkuş, Ilhan Karakılıç

Publication date: 2 February 2021

Published in: International Electronic Journal of Geometry (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.36890/iejg.699429

zbMATH Keywords

kinematicsCayley mapLie groupexponential mapRodrigues vectorplanar motion group

Mathematics Subject Classification ID

Differential geometric aspects in kinematics (53A17) Kinematics (70B99)

Cites Work

• Expression of dual Euler parameters using the dual Rodrigues parameters and their application to the screw transformation
• On the geometry of point-plane constraints on rigid-body displacements
• Geometric Fundamentals of Robotics
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