Robot Kinematics and Coordinate Transformations

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dc.contributor.authorKoditschek, Daniel E
dc.date2023-05-17T02:20:24.000
dc.date.accessioned2023-05-22T19:08:41Z
dc.date.available2023-05-22T19:08:41Z
dc.date.issued1985-12-01
dc.date.submitted2008-07-08T08:08:00-07:00
dc.description.abstractThis paper introduces a class of linearizing coordinate transformations for mechanical systems whose moment of inertia matrix has a square root which is a jacobian. The transformations, when they exist, define a local isometry from joint space to euclidean space, hence, may afford further insight into the transient behavior of robot motion. It remains to be seen whether any appreciably large class of robots admit such linearizing isometries.
dc.description.commentsCopyright 1985 IEEE. Reprinted from Proceedings of the 24th IEEE Conference on Decision and Control, Volume 1, 1985, pages 1-4. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/33624
dc.legacy.articleid1455
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1455&context=ese_papers&unstamped=1
dc.source.issue417
dc.source.journalDepartmental Papers (ESE)
dc.source.peerreviewedtrue
dc.source.statuspublished
dc.subject.otherGRASP
dc.subject.otherKodlab
dc.titleRobot Kinematics and Coordinate Transformations
dc.typePresentation
digcom.identifierese_papers/417
digcom.identifier.contextkey544395
digcom.identifier.submissionpathese_papers/417
digcom.typeconference
dspace.entity.typePublication
relation.isAuthorOfPublicationb6e8657c-2331-43df-97c3-92e79f74a7be
relation.isAuthorOfPublication.latestForDiscoveryb6e8657c-2331-43df-97c3-92e79f74a7be
upenn.schoolDepartmentCenterDepartmental Papers (ESE)
upenn.schoolDepartmentCenterGeneral Robotics, Automation, Sensing and Perception Laboratory
upenn.schoolDepartmentCenterKod*lab
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