2026-04-05T10:40:00Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/770652026-01-30T08:30:14Zcom_2072_1033col_2072_452950

On generalized dual Euler angles Rull Sanahuja, Aleix Thomas, Federico Àrees temàtiques de la UPC::Informàtica::Robòtica robot kinematics Classificació INSPEC::Automation::Robots::Robot kinematics 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. Peer Reviewed Postprint (author’s final draft) 2014 Conference report http://creativecommons.org/licenses/by-nc-nd/3.0/es/ Open Access Springer