• Main.RobotKinematicsAndCoordinateTransformations


Kod*lab Menu



Internal Links (Login Required)



Kod*lab Publications

Robot kinematics and coordinate transformations

24th IEEE Conference on Decision and Control, December 11–13, 1985

D.E. Koditschek University of Pennsylvania

Full PDF | Penn Scholarly Commons

Abstract
This paper introduces a class of linearizing coordinate transformations for mechanical systems whose moment of inertia matrix has a square root which is a jacobian. The transformations, when they exist, define a local isometry from joint space to euclidean space, hence, may afford further insight into the transient behavior of robot motion. It remains to be seen whether any appreciably large class of robots admit such linearizing isometries.
BibTeX entry
@INPROCEEDINGS{4048225, 
author={Daniel E. Koditschek}, 
booktitle={Decision and Control, 1985 24th IEEE Conference on}, 
title={Robot kinematics and coordinate transformations}, 
year={1985}, 
month={dec. }, 
volume={24}, 
number={}, 
pages={1 -4}, 
keywords={}, 
doi={10.1109/CDC.1985.268461}, 
ISSN={},}
}

Copyright Kodlab, 2017