3 papers
math.AG2020
Polynomial Invariants and SAGBI Bases for Multi-screws
Deborah Crook, Peter Donelan
Polynomial invariants for robot manipulators and their joints arise from the adjoint action of the Euclidean group on its Lie algebra, the space of infinitesimal twists or screws.…
math.MG2017
Hyperbolic pseudoinverses for kinematics in the Euclidean group
P. Donelan, J. M. Selig
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions . The associated Jaco…
math.AG2015
Invariants of the -fold adjoint action of the Euclidean group
Mohammed Daher, Peter Donelan
A non-zero element of the Lie algebra of the special Euclidean spatial isometry group is known as a {\em twist} and the corresponding element of the proj…