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Erschienen in:
1993 | OriginalPaper | Buchkapitel
On the Representation of Rigid-Body Motions and its Application to Generalized Platform Manipulators
verfasst von : D. Lazard
Erschienen in: Computational Kinematics
Verlag: Springer Netherlands
Enthalten in: Professional Book Archive
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Different ways for representing rigid-body motions (direct isometries) in a computer are presented. It appears that the choice between them may have a dramatic effect on the difficulty of a computation or of a proof.As an application, a computational proof is given of the fact that the direct kinematic problem for a generalized Stewart platform has at most 40 complex soluutions.