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

DOI10.24425/acs.2023.145111zbMath1526.70002MaRDI QIDQ6054074

Unnamed Author

Publication date: 27 September 2023

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

zbMATH Keywords

differential geometrybody coordinate workspacegeodesic 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)

Cites Work

• Screw and Lie group theory in multibody dynamics

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