Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems
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Publication:1639973
DOI10.1007/s11044-017-9582-7zbMath1400.70021OpenAlexW2734368255WikidataQ59607752 ScholiaQ59607752MaRDI QIDQ1639973
Publication date: 13 June 2018
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11044-017-9582-7
kinematicsLie groupsmultibody systemsscrewsrelative coordinatesrecursive algorithmsrigid bodiesframe invariance
Dynamics of multibody systems (70E55) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65) Kinematics (70B99)
Related Items (5)
Screw and Lie group theory in multibody dynamics ⋮ Kinematic analysis of the robot having closed chain mechanisms based on an improved modeling method and Lie group theory ⋮ Chains of rigid bodies and their numerical simulation by local frame methods ⋮ Closed-form time derivatives of the equations of motion of rigid body systems ⋮ Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators
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