Euclidean metrics for motion generation on SE(3)

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Volumn 216, Issue 1, 2002, Pages 47-60

  Belta, C ^a   Kumar, V ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

Interpolation; Invariance; Lie groups; Optimality

Indexed keywords

BOUNDARY CONDITIONS; GEOMETRY; ITERATIVE METHODS; METRIC SYSTEM; ROTATION; TRAJECTORIES;

MOTION GENERATION;

MECHANICAL ENGINEERING;

ALGORITHM;

EID: 0036226982     PISSN: 09544062     EISSN: None     Source Type: Journal    
DOI: 10.1243/0954406021524909     Document Type: Article

References (15)

1. Animating rotation with quaternion curves
2. Geometric construction of Bezier motions
3. Bezier curves on Riemannian manifolds and lie groups with kinematics applications
4. Computer aided geometric design of motion interpolants
5. Visualization of moving objects using dual quaternion curves
6. Cubic interpolation on the rotation group using Cayley parameters
7. Cubic splines on curved spaces
8. The dynamic interpolation problem: On Riemannian manifolds, Lie groups, and symmetric spaces
9. k on non-Euclidean spaces
10. On the generation of smooth three-dimensional rigid body motions
11. Interpolation schemes for rigid body motions
12. Kinematic dexterity of robotic mechanisms