论文信息 - An exploration of orientation representation by Lie algebra for robotic applications

An exploration of orientation representation by Lie algebra for robotic applications

A number of conventional methods for orientation representation are reviewed and discussed. An analysis based on Lie algebra for exploring possible definitions of three-dimensional (3D) orientation vectors and for unifying representations of position and orientation is presented. The associated computation methods are developed and verified by application to the six-axis Puma 560 robot. >

You-Liang Gu | You-Liang Gu

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