Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group

In this work, the exponential and the Cayley maps, from the Lie algebra $\mathfrak{se(2)}$ of the planar motion group $SE(2)$, to the group itself are studied. The comparison between these maps on $SE(2)$ is given by using the Rodrigues vector. A three joint mechanism is discussed as an application.

Keywords:

Kinematics, Lie Group, planar motion group, exponential map Cayley map, Rodrigues vector,

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International Electronic Journal of Geometry-Cover

Yayın Aralığı: Yılda 2 Sayı
Başlangıç: 2008
Yayıncı: Prof.Dr. H.Hilmi Hacısalioğlu

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