• DocumentCode
    1157854
  • Title

    An exploration of orientation representation by Lie algebra for robotic applications

  • Author

    Gu, Y.L.

  • Author_Institution
    School of Eng. & Comput. Sci., Oakland Univ., Rochester, MI
  • Volume
    20
  • Issue
    1
  • fYear
    1990
  • Firstpage
    243
  • Lastpage
    248
  • Abstract
    A number of conventional methods for orientation representation are reviewed and discussed. An analysis based on Lie algebra for exploring possible definitions of three-dimensional (3D) orientation vectors and for unifying representations of position and orientation is presented. The associated computation methods are developed and verified by application to the six-axis Puma 560 robot
  • Keywords
    Lie groups; robots; Lie algebra; Puma 560; orientation representation; orientation vectors; robotic; Acceleration; Algebra; Angular velocity; Computer applications; Equations; Jacobian matrices; Quaternions; Robot kinematics; Trajectory; Vectors;
  • fLanguage
    English
  • Journal_Title
    Systems, Man and Cybernetics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9472
  • Type

    jour

  • DOI
    10.1109/21.47824
  • Filename
    47824
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1157854