Applications of Fourier methods on the motion group in robot kinematics

被引：0

作者：

Kyatkin, AB ^{[1
]}

Chirikjian, GS ^{[1
]}

机构：

[1] Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA

来源：

ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND CONTROL | 1998年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we review the fast Fourier transform on the "discrete motion group". We apply this transform to the problem of finding the workspace density of discretely actuated manipulators. This transform allows us to compute convolution-like integrals that arise in robot kinematics and motion planning. The results of the implementation are discussed for particular examples.

引用

页码：355 / 364

页数：10

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