Compactification of the group of rigid motions and applications to robotics

[摘要] We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactification in robot kinematics, by considering the boundary of the configuration space of a robot. We study in particular the degeneration of the direct kinematic problem for some parallel robots with three degrees of freedom. (C) 2020 Elsevier B.V. All rights reserved.

[发布日期] 2021-07-01

[效力级别]  Proceedings Paper

[关键词] Group of rigid motions;Compactification;Robotics