Pose changes from a different point of view
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Chirikjian, Gregory S.; Mahony, Robert; Ruan, Sipu; Trumpf, Jochen
Description
For more than a century, rigid-body displacements have been viewed as affine transformations described as homogeneous transformation matrices wherein the linear part is a rotation matrix. In group-theoretic terms, this classical description makes rigid-body motions a semidirect product. The distinction between a rigid-body displacement of Euclidean space and a change in pose from one reference frame to another is usually not articulated well in the literature. Here, we show that, remarkably,...[Show more]
Collections | ANU Research Publications |
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Date published: | 2018-02-27 |
Type: | Journal article |
URI: | http://hdl.handle.net/1885/199597 |
Source: | Journal of Mechanisms and Robotics |
DOI: | 10.1115/1.4039121 |
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01_Chirikjian_Pose_changes_from_a_different_2018.pdf | 1.92 MB | Adobe PDF | Request a copy |
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