AN EXPLORATION OF ORIENTATION REPRESENTATION BY LIE-ALGEBRA FOR ROBOTIC APPLICATIONS

被引：7

作者：

GU, YL

机构：

[1] School of Engineering and Computer Science, Oakland University, Rochester

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1990年 / 20卷 / 01期

关键词：

D O I：

10.1109/21.47824

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

A number of conventional methods is reviewed and discussed. An analysis based on Lie algebra is presented for exploring possible definitions of three-dimensional (3-D) orientation vectors and for unifying representations between position and orientation. Also their computation methods are developed and verified by the six-axis Puma 560 robot. © 1990 IEEE

引用

页码：243 / 248

页数：6

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[9]

GU YL, 1987, IEEE T ROBOTIC AUTOM, V3, P615

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