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


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KARAKILIÇ İ., Erkus S.

INTERNATIONAL ELECTRONIC JOURNAL OF GEOMETRY, vol.13, no.1, pp.107-115, 2020 (ESCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 13 Issue: 1
  • Publication Date: 2020
  • Doi Number: 10.36890/iejg.699429
  • Journal Name: INTERNATIONAL ELECTRONIC JOURNAL OF GEOMETRY
  • Journal Indexes: Emerging Sources Citation Index (ESCI), Scopus, TR DİZİN (ULAKBİM)
  • Page Numbers: pp.107-115
  • Keywords: Kinematics, Lie group, planar motion group, exponential map, cayley map, Rodrigues vector
  • Dokuz Eylül University Affiliated: Yes

Abstract

In this work, the exponential and the Cayley maps, from the Lie algebra se(z) of the planar motion group S E (2), to the group itself are studied. The comparison between these maps on S E (2) is given by using the Rodrigues vector. A three joint mechanism is discussed as an application.