Abstract
In this paper we review the fast Fourier transform on the “discrete motion group”. We apply this transform to the problem of finding the workspace density of discretely actuated manipulators. This transform allows us to compute convolution-like integrals that arise in robot kinematics and motion planning. The results of the implementation are discussed for particular examples.
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© 1998 Springer Science+Business Media Dordrecht
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Kyatkin, A.B., Chirikjian, G.S. (1998). Applications of Fourier Methods on the Motion Group in Robot Kinematics. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_36
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DOI: https://doi.org/10.1007/978-94-015-9064-8_36
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-5066-3
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