0
RESEARCH PAPERS: Mechanisms and Robotics Papers

Metrics on Motion and Deformation of Solid Models

[+] Author and Article Information
G. S. Chirikjian, Shiyu Zhou

Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland 21218

J. Mech. Des 120(2), 252-261 (Jun 01, 1998) (10 pages) doi:10.1115/1.2826966 History: Received November 01, 1997; Online December 11, 2007

Abstract

Recently, the importance of metrics on the group of rigid body motions has been addressed in a number of works in the kinematics and robotics literature. This paper defines new metrics on motion which are particularly easy to compute. It is shown how these metrics are applicable to path generation for rigid body motions, and also as a means for generating interpolated sequences of deformed solid models. In order to address both problems in a unified framework, general metrics on Lie groups are discussed.

Copyright © 1998 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In