Symbolic Computation of the Lie Algebra se(3) of the Euclidean Group SE(3): An Application to the Infinitesimal Kinematics of Robot Manipulators
This paper reports an application of the Lie algebra se(3) of the Euclidean 3701129802670 group SE(3), which is isomorphic to the theory of screws in the velocity and acceleration analyses of serial manipulators.The symbolic computation of the infinitesimal kinematics allows one to obtain algebraic expressions related to the kinematic characteristi