6 citations · 11 across the 5 of their papers we have counts for
5 papers
Closed Form Relations and Higher-Order Approximations of First and Second Derivatives of the Tangent Operator on SE(3)
Andreas Mueller
The Lie group SE(3) of isometric orientation preserving transformation is used for modeling multibody systems, robots, and Cosserat continua. The use of these models in numerical s…
Forward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation
Andreas Mueller
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts…
A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the set of Configurations of Certain Rank of Lower Pair Linkages
Andreas Mueller
A motion of a mechanism is a curve in its configuration space (c-space). Singularities of the c-space are kinematic singularities of the mechanism. Any mobility analysis of a parti…
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
Shivesh Kumar, Andreas Mueller
Derivatives of equations of motion describing the rigid body dynamics are becoming increasingly relevant for the robotics community and find many applications in design and control…
Deconvolving oscillatory transients with a Kalman filter
Andreas Mueller
This paper describes a method to filter oscillatory transients from measurements of a time series which were at least an order of magnitude larger than the signal to be measured. B…