Publication
On generalized dual Euler angles
Conference Article
Conference
European Conference on Mechanism Science (EUCOMES)
Edition
5th
Pages
61-68
Doc link
http://dx.doi.org/10.1007/978-3-319-09411-3_7
File
Authors
Abstract
This paper first explores the generalization of Euler angles to the case in which the rotation axes are not necessarily members of an orthonormal triad, and presents a concise solution to their computation that relies on the calculation of standard Euler angles. Then, this generalization is taken one step further by introducing translations, that is, by defining generalized Euler angles about screw axes using a variation of the principle of transference that avoids the use of dual numbers. As an example, the obtained formulation is applied to solve the inverse kinematics of a 3C manipulator.
Categories
robot kinematics.
Scientific reference
A. Rull and F. Thomas. On generalized dual Euler angles, 5th European Conference on Mechanism Science, 2014, Guimaraes, Portugal, in New Trends in Mechanism and Machine Science, Vol 24 of Mechanisms and Machine Science, pp. 61-68, 2015, Springer.
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