Title :
An exploration of orientation representation by Lie algebra for robotic applications
Author_Institution :
School of Eng. & Comput. Sci., Oakland Univ., Rochester, MI
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;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
