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09/10/2023
An Overview of Formulae for the Higher-Order Kinematics of Lower-Pair Chains with Applications in Robotics and Mechanism Theory
The motions of mechanisms can be described in terms of screw coordinates...
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07/26/2023
Towards Continuous Time Finite Horizon LQR Control in SE(3)
The control of free-floating robots requires dealing with several challe...
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06/30/2023
Screw and Lie Group Theory in Multibody Dynamics – Recursive Algorithms and Equations of Motion of Tree-Topology Systems
Screw and Lie group theory allows for user-friendly modeling of multibod...
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06/30/2023
Screw and Lie Group Theory in Multibody Kinematics – Motion Representation and Recursive Kinematics of Tree-Topology Systems
After three decades of computational multibody system (MBS) dynamics, cu...
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05/09/2023
Hamel's Equations and Geometric Mechanics of Constrained and Floating Multibody and Space Systems
Modern geometric approaches to analytical mechanics rest on a bundle str...
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03/14/2023
Review of the Exponential and Cayley Map on SE(3) as relevant for Lie Group Integration of the Generalized Poisson Equation and Flexible Multibody Systems
The exponential and Cayley map on SE(3) are the prevailing coordinate ma...
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03/10/2021