Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group

Authors : İlhan KARAKILIÇ, Soner ERKUŞ

Pages : 107-115

Doi:10.36890/iejg.699429

View : 11 | Download : 6

Publication Date : 2020-01-30

Article Type : Research Paper

Abstract :In this work, the exponential and the Cayley maps, from the Lie algebra $\mathfrak{seinsert ignore into journalissuearticles values(2);}$ of the planar motion group $SEinsert ignore into journalissuearticles values(2);$, to the group itself are studied. The comparison between these maps on $SEinsert ignore into journalissuearticles values(2);$ is given by using the Rodrigues vector. A three joint mechanism is discussed as an application.
Keywords : Kinematics, Lie Group, planar motion group, exponential map, Cayley map, Rodrigues vector