Cayley-Hamilton for roboticists

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 4187-4192

  Visser, Martijn ^a   Stramigioli, Stefano ^b   Heemskerk, Cock ^a  

^a AIRBUS DEFENCE AND SPACE   (Germany)

^b UNIVERSITY OF TWENTE   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

EXPONENTIAL MAPS; LOGARITHMS; MATRIX FUNCTIONS; ROBOTICISTS;

INVERSE PROBLEMS; LINEAR ALGEBRA; SYSTEM THEORY; THEOREM PROVING;

ROBOTIC ARMS;

EID: 34250622939     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.281911     Document Type: Conference Paper

References (7)

1. T. Kailath, Linear Systems. New Jersey, USA: Prentice Hall, 1980.
2. J. M. Selig, Geometric Fundamentals of Robotics, 2nd ed. New York, USA: Springer, 2005.
3. G. Sobczyk, "The generalized spectral decomposition of a linear operator," College Mathematics Journal, vol. 28, no. 1, pp. 27-38, Jan. 1997.
4. G. H. Golub and C. F. van Loan, Matrix Computations, 3rd ed. Baltimore, USA: John Hopkins University Press, 1996.
5. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. New York, USA: CRC Press, 1994.
6. W. Rossman, Lie Groups: An Introduction through Linear Groups. Oxford, UK: Oxford University Press, 2002.
7. M. Visser, S. Stramigioli, and C. Heemskerk, "Spatial springs in generalized coordinates," July 2005, submitted to ....