Modern Robotics, Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion
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Modern Robotics, Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion
This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See http://modernrobotics.org for information on the book, free software, and other materials. Any rigid-body transformation can be achieved from any other by following some 6-vector twist ...
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