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Higher-Order Cayley Transforms for SE(3)

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New Advances in Mechanism and Machine Science

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 57))

Abstract

This paper presents a new pose parametrization technique based on n-th order Cayley transforms. Our study is built on the properties of maps that link the dual vectors with the special Euclidean displacement Lie group SE(3) and the Lie group of the orthogonal dual tensors. The resulted parametrization framework is complete and embeds multiple of the reported attitude parameterization Cayley maps, while extending them towards pose parameterization.

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Author information

Authors and Affiliations

  1. “Gheorghe Asachi” Technical University of Iasi, Iaşi, Romania

    D. Condurache

  2. “Grigore T. Popa” University of Medicine and Pharmacy Iasi, Iaşi, Romania

    I.-A. Ciureanu

Authors
  1. D. Condurache
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  2. I.-A. Ciureanu
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Corresponding author

Correspondence to D. Condurache .

Editor information

Editors and Affiliations

  1. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Ioan Doroftei

  2. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Cezar Oprisan

  3. Mechanical Systems Engineering Department, Machine Building Faculty, Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  4. Mechatronics Department, Mechanical Engineering Faculty, Politehnica University of Timisoara, Timişoara, Romania

    Erwin Christian Lovasz

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Condurache, D., Ciureanu, IA. (2018). Higher-Order Cayley Transforms for SE(3). In: Doroftei, I., Oprisan, C., Pisla, D., Lovasz, E. (eds) New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, vol 57. Springer, Cham. https://doi.org/10.1007/978-3-319-79111-1_33

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  • DOI: https://doi.org/10.1007/978-3-319-79111-1_33

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-79110-4

  • Online ISBN: 978-3-319-79111-1

  • eBook Packages: EngineeringEngineering (R0)

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