Titlebook: Geometrical Methods in Robotics; J. M. Selig Textbook 19961st edition Springer Science+Business Media New York 1996 Grad.computing.differe

odometer

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Mawkish

legitimate

Dealing

環(huán)形

Line Geometry,een solved. Algebraic geometers think of ruled surfaces as line bundles over a curve or even more abstract descriptions. Differential geometers usually worry about the extrinsic geometry of ruled surfaces—that is, how such surfaces can sit in three dimensions—their curvature, and so forth. Symplecti

Left-Atrium

Representation Theory,eady. However, we want to be more systematic here and apply some of the large modern subject of representation theory to robotics. An excellent introduction to representation theory can be found in Fulton and Harris [24]. We begin by making some formal definitions.

Left-Atrium

Clifford Algebra, algebras of anti-symmetric tensors. Originally, both were developed for facilitating geometrical computations, and indeed Grassmann algebras have been recently rediscovered by computer scientists for performing calculations in computational geometry. In fact, as we will see a little later, the only

確認(rèn)

The Study Quadric,specify the position of the body by attaching a coordinate frame to it. He called these ‘points’ ., which is Greek for .. Clifford’s biquaternions were then used as coordinates for the space. As we saw in section 9.3, using the biquaternion representation, the elements of the group of rigid body mot

Gobble

GLARE