Screw and Lie group theory in multibody kinematics: Motion representation and recursive kinematics of tree-topology systems

A Müller - Multibody System Dynamics, 2018 - Springer
After three decades of computational multibody system (MBS) dynamics, current research is
centered at the development of compact and user-friendly yet computationally efficient …

Screw and Lie group theory in multibody dynamics: recursive algorithms and equations of motion of tree-topology systems

A Müller - Multibody System Dynamics, 2018 - Springer
Screw and Lie group theory allows for user-friendly modeling of multibody systems (MBS),
and at the same they give rise to computationally efficient recursive algorithms. The inherent …

Nonlinear compensation assessment in few-mode fibers via phase-conjugated twin waves

JS Tavares, LM Pessoa, HM Salgado - Journal of Lightwave …, 2017 - opg.optica.org
In this paper, we further explore the concept of phase-conjugated twin waves (PCTW) for
nonlinear cancellation in space-division multiplexed (SDM) systems. Previously, we …

The besman learning platform for automated robot skill learning

L Gutzeit, A Fabisch, M Otto, JH Metzen… - Frontiers in Robotics …, 2018 - frontiersin.org
We describe the BesMan learning platform which allows learning robotic manipulation
behavior. It is a stand-alone solution which can be combined with different robotic systems …

Learning and generalizing behaviors for robots from human demonstration

A Fabisch - 2020 - media.suub.uni-bremen.de
Behavior learning is a promising alternative to planning and control for behavior generation
in robotics. The field is becoming more and more popular in applications where modeling …

Inverse kinematics of anthropomorphic arms yielding eight coinciding circles

B Bongardt - Computational Kinematics: Proceedings of the 7th …, 2018 - Springer
In this paper it is demonstrated that the solution space of the inverse kinematic problem of an
anthropomorphic, redundant 7R chain for a given pose does consist of eight different …

Exponential displacement coordinates by means of the adjoint representation

B Bongardt, JJ Uicker - International Symposium on Advances in Robot …, 2020 - Springer
This paper introduces methods to determine the exponential coordinates of first kind and of
second kind for an arbitrary spatial displacement given in terms of the left adjoint …

[PDF][PDF] Automatic generation of task-specific serial mechanisms using combined structural and dimensional synthesis: Generierung aufgabenspezifischer serieller …

DA Ramirez Rodriguez - d-nb.info
Automatic Generation of Task-specific Serial Mechanisms using Combined Structural and
Dimensional Synthesis Page 1 Automatic Generation of Task-specific Serial Mechanisms using …

[PDF][PDF] A Workspace Scaling Method for Motion Synchronization in SE (3)

B Bongardt - 2018 - researchgate.net
A Workspace Scaling Method for Motion Synchronization in SE(3) Page 1 A Workspace
Scaling Method for Motion Synchronization in SE(3) corrected version (August 2018) …

A Workspace Scaling Method for Motion Synchronization in SE (3)

B Bongardt - ROMANSY 22–Robot Design, Dynamics and Control …, 2019 - Springer
This paper formally documents a method that enables the scaling of displacements,
elements of the group of rigid body motions, in all their six degrees of freedom individually in …