Title :
Non-intrinsicity of references in rigid body motions
Author :
Stramigioli, S. ; Bruyninckx, H.
Author_Institution :
Dept. of Inf. Tech. & Syst., Delft Univ. of Technol., Netherlands
Abstract :
Shows that in the use of Lie groups for the study of the relative motion of rigid bodies some assumptions are not explicitly stated. A commutation diagram is shown which points out the “reference problem” and its simplification to the usual Lie group approach under certain conditions which are made explicit
Keywords :
Lie groups; matrix algebra; observers; robots; nonintrinsicity; reference problem; relative motion; rigid body motions; Books; Kinematics; Mechanical engineering; Space stations;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844033
