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| dc.contributor | Institut de Robòtica i Informàtica Industrial |
|---|---|
| dc.contributor | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
| dc.contributor | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
| dc.contributor.author | Rull Sanahuja, Aleix |
| dc.contributor.author | Thomas, Federico |
| dc.date | 2014 |
| dc.identifier.citation | Rull, A., Thomas, F. On generalized dual Euler angles. A: European Conference on Mechanism Science. "New Trends in Mechanism and Machine Science, Vol 24 of Mechanisms and Machine Science". Guimaraes: Springer, 2014, p. 61-68. |
| dc.identifier.citation | 10.1007/978-3-319-09411-3_7 |
| dc.identifier.uri | http://hdl.handle.net/2117/77065 |
| dc.description.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. |
| dc.description.abstract | Peer Reviewed |
| dc.language.iso | eng |
| dc.publisher | Springer |
| dc.rights | info:eu-repo/semantics/openAccess |
| dc.rights | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
| dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
| dc.subject | robot kinematics |
| dc.subject | Classificació INSPEC::Automation::Robots::Robot kinematics |
| dc.title | On generalized dual Euler angles |
| dc.type | info:eu-repo/semantics/submittedVersion |
| dc.type | info:eu-repo/semantics/conferenceObject |
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