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What is Lie Groups in Robot Kinematics about?

This document provides background information on Lie groups and their application to modeling the kinematics and dynamics of serial manipulators. It introduces Lie groups and algebras, describes the special orthogonal group SO(3) and special Euclidean group SE(3) which are relevant for modeling rigid body transformations. It also discusses spatial velocities and forces as elements of the Lie algebra se(3) and its dual space. Finally, it defines the adjoint and dual adjoint operators which allow transforming

Author

Le Dinh Phong

Language

EN