Robot grasping and regrasping kinematics using Lie algebra, the geodesic, and Riemann curvature tensor

DOI10.24425/ACS.2023.145111MaRDI QIDQ6054074zbMATH OpenFDO

Authors

Publication date 27 September 2023

Published in Archives of Control Sciences (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://doi.org/10.24425/ACS.2023.145111

zbMATH Keywords

body coordinate workspacedifferential geometrygeodesic solutionspatial coordinate workspace

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

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Cites work

• Screw and Lie group theory in multibody dynamics

Cited in

(2)

• An exploration of orientation representation by Lie algebra for robotic applications
• Geodesic path planning characteristics of the reconfigurable 1-S robot workspaces for hyperbolic, elliptical, and Euclidean geometries

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