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On generalized dual Euler angles

descriptionPublicationkeyboard_double_arrow_right Conference object 01 Jan 2014 Spain English Publisher:Springer
Authors: Rull Sanahuja, Aleix; Thomas, Federico;

handle: 2117/77065 , 10261/127386

On generalized dual Euler angles

Abstract

This paper first explores the generalization of Euler angles to the case in which the rotation axes are not necessarily members of an orthonormal triad, and presents a concise solution to their computation that relies on the calculation of standard Euler angles. Then, this generalization is taken one step further by introducing translations, that is, by defining generalized Euler angles about screw axes using a variation of the principle of transference that avoids the use of dual numbers. As an example, the obtained formulation is applied to solve the inverse kinematics of a 3C manipulator.

Trabajo presentado a la 5th European Conference on Mechanism Science (EUCOMES) celebrada del 16 al 20 de septiembre de 2014 en Guimarães (Portugal).

Peer Reviewed

Country
Spain
Related Organizations
Keywords

Dual Euler angles, Generalized Euler angles, :Automation::Robots::Robot kinematics [Classificació INSPEC], Classificació INSPEC::Automation::Robots::Robot kinematics, Àrees temàtiques de la UPC::Informàtica::Robòtica, Euler angles, :Informàtica::Robòtica [Àrees temàtiques de la UPC], 3C manipulator, robot kinematics

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selected citations
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This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
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popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
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