closed-chain-ik-js icon indicating copy to clipboard operation
closed-chain-ik-js copied to clipboard

Published 20 hours ago • verified publisher icon gkjohnson

Look at exponential maps for rotation error

Open gkjohnson opened this issue 4 years ago • 2 comments

See Appendix B:

https://www2.ccs.neu.edu/research/gpc/publications/Vona__2009__Virtual_Articulation_and_Kinematic_Abstraction_in_Robotics.pdf

gkjohnson avatar Oct 16 '20 07:10 gkjohnson

http://www.cs.cmu.edu/~spiff/moedit99/expmap.pdf

gkjohnson avatar Dec 30 '20 18:12 gkjohnson

Exponential maps could be used for representing closure error instead of quaternions in the matrices which would cut down on the amount of rows needed for error by 1.

gkjohnson avatar Dec 31 '20 22:12 gkjohnson