Nonintrinsicity of References in Rigid-Body Motions

[+] Author and Article Information
S. Stramigioli

Faculty of Electrical Engineering, Drebbel Institute, P.O. Box 217, NL-7500 AE Enschede, The Netherlandse-mail: S.Stramigioli@ieee.org

J. Appl. Mech 68(6), 929-936 (Apr 25, 2001) (8 pages) doi:10.1115/1.1409937 History: Received May 19, 2000; Revised April 25, 2001
Copyright © 2001 by ASME
Topics: Motion , Space
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Stramigioli, S., Maschke, B., and Bidard, C. 2000, “Hamiltonian Formulation of the Dynamics of Spatial Mechanisms Using Lie Groups and Screw Theory,” Proceedings of the Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell Ball H. Lipkin, ed., Cambridge University Press, Cambridge, UK.
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Karger, A., and Novak, J., 1978, Space Kinematics and Lie Groups, Gordon and Breach, New York.
Herve,  J. M., 1999, “The Lie Group of Rigid Body Displacements, a Fundamental Tool for Mechanism Design,” Mech. Mach. Theory, 34, pp. 719–730.
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Grahic Jump Location
An example of a two-dimensional Euclidean system
Grahic Jump Location
Maps between Euclidean spaces
Grahic Jump Location
Compatibility of the kinematic state
Grahic Jump Location
Commutation diagram of the intrinsic left translations
Grahic Jump Location
Commutation diagram of the intrinsic right translations
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The complete commutation diagram
Grahic Jump Location
The Lie group commutation diagram



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