caa a22 4500 465797741 CHVBK 20180323112043.0 cr unu---uuuuu 170327e19901201xx s 000 0 eng 10.1007/BF00439423 doi (NATIONALLICENCE)springer-10.1007/BF00439423 Mladenova Clementina Institute of Mechanics and Biomechanics, Bulgarian Academy of Sciences, PO Box 373, 1090, Sofia, Bulgaria aut A contribution to the modelling and control of manipulators [Elektronische Daten] [Clementina Mladenova] The paper discusses manipulator modelling and control through a nonstandard parametrization of rotation motions. The advantage of the method is the computational facilities arising at the kinematical level, not from efficient presentation, but from fundamental topological considerations of the configurational manifold provided with a Lie group structure. Kluwer Academic Publishers, 1990 Manipulators nationallicence Lie groups nationallicence SO(3) group nationallicence parametrizations of SO(3) group nationallicence manifold nationallicence robot kinematics nationallicence robot dynamics nationallicence trajectory planning nationallicence inverse kinematic problem nationallicence Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/4(1990-12-01), 349-363 0921-0296 3:4<349 1990 3 10846 https://doi.org/10.1007/BF00439423 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00439423 text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Mladenova Clementina Institute of Mechanics and Biomechanics, Bulgarian Academy of Sciences, PO Box 373, 1090, Sofia, Bulgaria aut NATIONALLICENCE 773 0- Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/4(1990-12-01), 349-363 0921-0296 3:4<349 1990 3 10846 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer