21 citations · 39 across the 5 of their papers we have counts for
5 papers
A note on the motion representation and configuration update in time stepping schemes for the constrained rigid body
A. Müller
The dynamics of a holonomically constrained rigid body can be modeled by Newton-Euler equations subjected to geometric constraints. This is frequently formulated as a differential-…
Identification of Non-Transversal Bifurcations of Linkages
Andreas Mueller, P. C. López Custodio, J. S. Dai
The local analysis is an established approach to the study of singularities and mobility of linkages. Key result of such analyses is a local picture of the finite motion through a…
Analysis of Deep-Learning Methods in an ISO/TS 15066-Compliant Human-Robot Safety Framework
David Bricher, Andreas Mueller
Over the last years collaborative robots have gained great success in manufacturing applications where human and robot work together in close proximity. However, current ISO/TS-150…
Product Of Exponentials (POE) Splines on Lie-Groups: Limitations, Extensions, and Application to SO(3) and SE(3)
Andreas Mueller
Existing methods for constructing splines and Bezier curves on a Lie group G involve repeated products of exponentials deduced from local geodesics, w.r.t. a Riemannian metric, or…
An )-Algorithm for the Higher-Order Kinematics and Inverse Dynamics of Serial Manipulators using Spatial Representation of Twists
Andreas Mueller
Optimal control in general, and flatness-based control in particular, of robotic arms necessitate to compute the first and second time derivatives of the joint torques/forces requi…