期刊
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
卷 10, 期 2, 页码 -出版社
ASME
DOI: 10.1115/1.4039121
关键词
-
资金
- Division of Information and Intelligent Systems, National Science Foundation [IIS-1619050]
- Office of Naval Research Global [N00014-17-1-2142]
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1619050] Funding Source: National Science Foundation
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, when changes in pose are viewed from a space-fixed reference frame, the space of pose changes can be endowed with a direct product group structure, which is different from the semidirect product structure of the space of motions. We then show how this new perspective can be applied more naturally to problems such as monitoring the state of aerial vehicles from the ground, or the cameras in a humanoid robot observing pose changes of its hands.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据