Alcuni teoremi di cinematica dei sistemi rigidi
An algorithm based on rolling to generate smooth interpolating curves on ellipsoids
We present an algorithm to generate a smooth curve interpolating a set of data on an -dimensional ellipsoid, which is given in closed form. This is inspired by an algorithm based on a rolling and wrapping technique, described in [11] for data on a general manifold embedded in Euclidean space. Since the ellipsoid can be embedded in an Euclidean space, this algorithm can be implemented, at least theoretically. However, one of the basic steps of that algorithm consists in rolling the ellipsoid, over...
An Elementary Treatise on Quaternions [Book]
An Exact Algorithm for Kinodynamic Planning in the Plane.
An example of a non-degenerate precession possessing two distinct pairs of axes
In the present paper we provide an interesting example of a non-degenerate precession possessing two distinct pairs , of axes of precession and figure. Thus the problem arises of the existence of classes of precessions possessing a unique axis of precession and a unique axis of figure. In the fourth section we show that the class of non-degenerate regular precessions enjoys this property.
An Operational Calculus for the Euclidean Motion Group with Applications in Robotics and Polymer Science.
Applications of combinatorics to statics – a survey
Approximation of Jacobian inverse kinematics algorithms
This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the...