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cs.RO2023
An Overview of Formulae for the Higher-Order Kinematics of Lower-Pair Chains with Applications in Robotics and Mechanism Theory
Andreas Mueller
The motions of mechanisms can be described in terms of screw coordinates by means of an exponential mapping. The product of exponentials (POE) describes the configuration of a chai…
math.NA2023
Screw and Lie Group Theory in Multibody Dynamics -- Recursive Algorithms and Equations of Motion of Tree-Topology Systems
Andreas Mueller
Screw and Lie group theory allows for user-friendly modeling of multibody systems (MBS) while at the same they give rise to computationally efficient recursive algorithms. The inhe…