On the computational aspect of the matrix exponentials and their use in robot kinematics

DOI10.1109/TAC.1986.1104277zbMath0584.70004MaRDI QIDQ3707446

Choong S. Yoon, Fathi M. A. Salam

Publication date: 1986

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

zbMATH Keywords

singularitiesStanford manipulatorinverse kinematics problemclassical Cayley- Hamilton theoremexponential matrix representationkinematics of rigid linksStanford arm

Mathematics Subject Classification ID

Composite and mixture properties (74E30) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

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