VERSOR Spatial Computing with Conformal Geometric Algebra
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Screw and Lie Group Theory in Multibody Dynamics Recursive Algorithms and Equations of Motion of Tree-Topology Systems
Multibody Syst Dyn DOI 10.1007/s11044-017-9583-6 Screw and Lie group theory in multibody dynamics Recursive algorithms and equations of motion of tree-topology systems Andreas Müller1 Received: 12 November 2016 / Accepted: 16 June 2017 © The Author(s) 2017. This article is published with open access at Springerlink.com Abstract Screw and Lie group theory allows for user-friendly modeling of multibody sys- tems (MBS), and at the same they give rise to computationally efficient recursive algo- rithms. The inherent frame invariance of such formulations allows to use arbitrary reference frames within the kinematics modeling (rather than obeying modeling conventions such as the Denavit–Hartenberg convention) and to avoid introduction of joint frames. The com- putational efficiency is owed to a representation of twists, accelerations, and wrenches that minimizes the computational effort. This can be directly carried over to dynamics formula- tions. In this paper, recursive O(n) Newton–Euler algorithms are derived for the four most frequently used representations of twists, and their specific features are discussed. These for- mulations are related to the corresponding algorithms that were presented in the literature. Two forms of MBS motion equations are derived in closed form using the Lie group formu- lation: the so-called Euler–Jourdain or “projection” equations, of which Kane’s equations are a special case, and the Lagrange equations. The recursive kinematics formulations are readily extended to higher orders in order to compute derivatives of the motions equations. To this end, recursive formulations for the acceleration and jerk are derived. It is briefly discussed how this can be employed for derivation of the linearized motion equations and their time derivatives. -
Quaternions and Cli Ord Geometric Algebras
Quaternions and Cliord Geometric Algebras Robert Benjamin Easter First Draft Edition (v1) (c) copyright 2015, Robert Benjamin Easter, all rights reserved. Preface As a rst rough draft that has been put together very quickly, this book is likely to contain errata and disorganization. The references list and inline citations are very incompete, so the reader should search around for more references. I do not claim to be the inventor of any of the mathematics found here. However, some parts of this book may be considered new in some sense and were in small parts my own original research. Much of the contents was originally written by me as contributions to a web encyclopedia project just for fun, but for various reasons was inappropriate in an encyclopedic volume. I did not originally intend to write this book. This is not a dissertation, nor did its development receive any funding or proper peer review. I oer this free book to the public, such as it is, in the hope it could be helpful to an interested reader. June 19, 2015 - Robert B. Easter. (v1) [email protected] 3 Table of contents Preface . 3 List of gures . 9 1 Quaternion Algebra . 11 1.1 The Quaternion Formula . 11 1.2 The Scalar and Vector Parts . 15 1.3 The Quaternion Product . 16 1.4 The Dot Product . 16 1.5 The Cross Product . 17 1.6 Conjugates . 18 1.7 Tensor or Magnitude . 20 1.8 Versors . 20 1.9 Biradials . 22 1.10 Quaternion Identities . 23 1.11 The Biradial b/a . -
Marc De Graef, CMU
Rotations, rotations, and more rotations … Marc De Graef, CMU AN OVERVIEW OF ROTATION REPRESENTATIONS AND THE RELATIONS BETWEEN THEM AFOSR MURI FA9550-12-1-0458 CMU, 7/8/15 1 Outline 2D rotations 3D rotations 7 rotation representations Conventions (places where you can go wrong…) Motivation 2 Outline 2D rotations 3D rotations 7 rotation representations Conventions (places where you can go wrong…) Motivation PREPRINT: “Tutorial: Consistent Representations of and Conversions between 3D Rotations,” D. Rowenhorst, A.D. Rollett, G.S. Rohrer, M. Groeber, M. Jackson, P.J. Konijnenberg, M. De Graef, MSMSE, under review (2015). 2 2D Rotations 3 2D Rotations y x 3 2D Rotations y0 y ✓ x0 x 3 2D Rotations y0 y ✓ x0 x ex0 cos ✓ sin ✓ ex p = ei0 = Rijej e0 sin ✓ cos ✓ ey ! ✓ y ◆ ✓ − ◆✓ ◆ 3 2D Rotations y0 y ✓ p x R = e0 e 0 ij i · j x ex0 cos ✓ sin ✓ ex p = ei0 = Rijej e0 sin ✓ cos ✓ ey ! ✓ y ◆ ✓ − ◆✓ ◆ 3 2D Rotations y0 y ✓ p x R = e0 e 0 ij i · j x ex0 cos ✓ sin ✓ ex p = ei0 = Rijej e0 sin ✓ cos ✓ ey ! ✓ y ◆ ✓ − ◆✓ ◆ Rotating the reference frame while keeping the object constant is known as a passive rotation. 3 2D Rotations y0 y Assumptions: Cartesian reference frame, right-handed; positive ✓ rotation is counter-clockwise p x R = e0 e 0 ij i · j x ex0 cos ✓ sin ✓ ex p = ei0 = Rijej e0 sin ✓ cos ✓ ey ! ✓ y ◆ ✓ − ◆✓ ◆ Rotating the reference frame while keeping the object constant is known as a passive rotation. 3 2D Rotations 4 2D Rotations y0 y ✓ x0 x 4 2D Rotations y0 y ✓ x0 x 4 2D Rotations y0 y ✓ r = ri0ei0 = rjej x0 x 4 2D Rotations y0 y ✓ r = ri0ei0 = rjej p = ri0Rijej x0 p T =(R )jiri0ej x 4 2D Rotations y0 y ✓ r = ri0ei0 = rjej p = ri0Rijej x0 p T =(R )jiri0ej x p T r =(R ) r0 ! j ji i 4 2D Rotations y0 y ✓ r = ri0ei0 = rjej p = ri0Rijej x0 p T =(R )jiri0ej x p T r =(R ) r0 ! j ji i p r0 = R r ! i ij j 4 2D Rotations y0 y ✓ r = ri0ei0 = rjej p = ri0Rijej x0 p T =(R )jiri0ej x p T r =(R ) r0 ! j ji i p r0 = R r ! i ij j The passive matrix converts the old coordinates into the new coordinates by left-multiplication. -
An Historical Review of the Theoretical Development of Rigid Body Displacements from Rodrigues Parameters to the finite Twist
Mechanism and Machine Theory Mechanism and Machine Theory 41 (2006) 41–52 www.elsevier.com/locate/mechmt An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist Jian S. Dai * Department of Mechanical Engineering, School of Physical Sciences and Engineering, King’s College London, University of London, Strand, London WC2R2LS, UK Received 5 November 2004; received in revised form 30 March 2005; accepted 28 April 2005 Available online 1 July 2005 Abstract The development of the finite twist or the finite screw displacement has attracted much attention in the field of theoretical kinematics and the proposed q-pitch with the tangent of half the rotation angle has dem- onstrated an elegant use in the study of rigid body displacements. This development can be dated back to RodriguesÕ formulae derived in 1840 with Rodrigues parameters resulting from the tangent of half the rota- tion angle being integrated with the components of the rotation axis. This paper traces the work back to the time when Rodrigues parameters were discovered and follows the theoretical development of rigid body displacements from the early 19th century to the late 20th century. The paper reviews the work from Chasles motion to CayleyÕs formula and then to HamiltonÕs quaternions and Rodrigues parameterization and relates the work to Clifford biquaternions and to StudyÕs dual angle proposed in the late 19th century. The review of the work from these mathematicians concentrates on the description and the representation of the displacement and transformation of a rigid body, and on the mathematical formulation and its progress. -
Arxiv:1001.0240V1 [Math.RA]
Fundamental representations and algebraic properties of biquaternions or complexified quaternions Stephen J. Sangwine∗ School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester, CO4 3SQ, United Kingdom. Email: [email protected] Todd A. Ell† 5620 Oak View Court, Savage, MN 55378-4695, USA. Email: [email protected] Nicolas Le Bihan GIPSA-Lab D´epartement Images et Signal 961 Rue de la Houille Blanche, Domaine Universitaire BP 46, 38402 Saint Martin d’H`eres cedex, France. Email: [email protected] October 22, 2018 Abstract The fundamental properties of biquaternions (complexified quaternions) are presented including several different representations, some of them new, and definitions of fundamental operations such as the scalar and vector parts, conjugates, semi-norms, polar forms, and inner and outer products. The notation is consistent throughout, even between representations, providing a clear account of the many ways in which the component parts of a biquaternion may be manipulated algebraically. 1 Introduction It is typical of quaternion formulae that, though they be difficult to find, once found they are immediately verifiable. J. L. Synge (1972) [43, p34] arXiv:1001.0240v1 [math.RA] 1 Jan 2010 The quaternions are relatively well-known but the quaternions with complex components (complexified quaternions, or biquaternions1) are less so. This paper aims to set out the fundamental definitions of biquaternions and some elementary results, which, although elementary, are often not trivial. The emphasis in this paper is on the biquaternions as an applied algebra – that is, a tool for the manipulation ∗This paper was started in 2005 at the Laboratoire des Images et des Signaux (now part of the GIPSA-Lab), Grenoble, France with financial support from the Royal Academy of Engineering of the United Kingdom and the Centre National de la Recherche Scientifique (CNRS). -
STORM: Screw Theory Toolbox for Robot Manipulator and Mechanisms
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 25-29, 2020, Las Vegas, NV, USA (Virtual) STORM: Screw Theory Toolbox For Robot Manipulator and Mechanisms Keerthi Sagar*, Vishal Ramadoss*, Dimiter Zlatanov and Matteo Zoppi Abstract— Screw theory is a powerful mathematical tool in Cartesian three-space. It is crucial for designers to under- for the kinematic analysis of mechanisms and has become stand the geometric pattern of the underlying screw system a cornerstone of modern kinematics. Although screw theory defined in the mechanism or a robot and to have a visual has rooted itself as a core concept, there is a lack of generic software tools for visualization of the geometric pattern of the reference of them. Existing frameworks [14], [15], [16] target screw elements. This paper presents STORM, an educational the design of kinematic mechanisms from computational and research oriented framework for analysis and visualization point of view with position, velocity kinematics and iden- of reciprocal screw systems for a class of robot manipulator tification of different assembly configurations. A practical and mechanisms. This platform has been developed as a way to bridge the gap between theory and practice of application of screw theory in the constraint and motion analysis for robot mechanisms. STORM utilizes an abstracted software architecture that enables the user to study different structures of robot manipulators. The example case studies demonstrate the potential to perform analysis on mechanisms, visualize the screw entities and conveniently add new models and analyses. I. INTRODUCTION Machine theory, design and kinematic analysis of robots, rigid body dynamics and geometric mechanics– all have a common denominator, namely screw theory which lays the mathematical foundation in a geometric perspective. -
Codimension One Isometric Immersions Betweenlorentz Spaces by L
TRANSACTIONS OF THE AMERICAN MATHEMATICAL SOCIETY Volume 252, August 1979 CODIMENSION ONE ISOMETRIC IMMERSIONS BETWEENLORENTZ SPACES BY L. K. GRAVES In memory of my father, Lucius Kingman Graves Abstract. The theorem of Hartman and Nirenberg classifies codimension one isometric immersions between Euclidean spaces as cylinders over plane curves. Corresponding results are given here for Lorentz spaces, which are Euclidean spaces with one negative-definite direction (also known as Minkowski spaces). The pivotal result involves the completeness of the relative nullity foliation of such an immersion. When this foliation carries a nondegenerate metric, results analogous to the Hartman-Nirenberg theorem obtain. Otherwise, a new description, based on particular surfaces in the three-dimensional Lorentz space, is required. The theorem of Hartman and Nirenberg [HN] says that, up to a proper motion of E"+', all isometric immersions of E" into E"+ ' have the form id X c: E"-1 xEUr'x E2 (0.1) where c: E1 ->E2 is a unit speed plane curve and the factors in the product are orthogonal. A proof of the Hartman-Nirenberg result also appears in [N,]. The major step in proving the theorem is showing that the relative nullity foliation, which is spanned by those tangent directions in which a local unit normal field is parallel, has complete leaves. These leaves yield the E"_1 factors in (0.1). The one-dimensional complement of the relative nullity foliation gives rise to the curve c. This paper studies isometric immersions of L" into Ln+1, where L" denotes the «-dimensional Lorentz (or Minkowski) space. Its chief goal is the classifi- cation, up to a proper motion of L"+1, of all such immersions. -
Embeddings of Integral Quadratic Forms Rick Miranda Colorado State
Embeddings of Integral Quadratic Forms Rick Miranda Colorado State University David R. Morrison University of California, Santa Barbara Copyright c 2009, Rick Miranda and David R. Morrison Preface The authors ran a seminar on Integral Quadratic Forms at the Institute for Advanced Study in the Spring of 1982, and worked on a book-length manuscript reporting on the topic throughout the 1980’s and early 1990’s. Some new results which are proved in the manuscript were announced in two brief papers in the Proceedings of the Japan Academy of Sciences in 1985 and 1986. We are making this preliminary version of the manuscript available at this time in the hope that it will be useful. Still to do before the manuscript is in final form: final editing of some portions, completion of the bibliography, and the addition of a chapter on the application to K3 surfaces. Rick Miranda David R. Morrison Fort Collins and Santa Barbara November, 2009 iii Contents Preface iii Chapter I. Quadratic Forms and Orthogonal Groups 1 1. Symmetric Bilinear Forms 1 2. Quadratic Forms 2 3. Quadratic Modules 4 4. Torsion Forms over Integral Domains 7 5. Orthogonality and Splitting 9 6. Homomorphisms 11 7. Examples 13 8. Change of Rings 22 9. Isometries 25 10. The Spinor Norm 29 11. Sign Structures and Orientations 31 Chapter II. Quadratic Forms over Integral Domains 35 1. Torsion Modules over a Principal Ideal Domain 35 2. The Functors ρk 37 3. The Discriminant of a Torsion Bilinear Form 40 4. The Discriminant of a Torsion Quadratic Form 45 5. -
The Devil of Rotations Is Afoot! (James Watt in 1781)
The Devil of Rotations is Afoot! (James Watt in 1781) Leo Dorst Informatics Institute, University of Amsterdam XVII summer school, Santander, 2016 0 1 The ratio of vectors is an operator in 2D Given a and b, find a vector x that is to c what b is to a? So, solve x from: x : c = b : a: The answer is, by geometric product: x = (b=a) c kbk = cos(φ) − I sin(φ) c kak = ρ e−Iφ c; an operator on c! Here I is the unit-2-blade of the plane `from a to b' (so I2 = −1), ρ is the ratio of their norms, and φ is the angle between them. (Actually, it is better to think of Iφ as the angle.) Result not fully dependent on a and b, so better parametrize by ρ and Iφ. GAViewer: a = e1, label(a), b = e1+e2, label(b), c = -e1+2 e2, dynamicfx = (b/a) c,g 1 2 Another idea: rotation as multiple reflection Reflection in an origin plane with unit normal a x 7! x − 2(x · a) a=kak2 (classic LA): Now consider the dot product as the symmetric part of a more fundamental geometric product: 1 x · a = 2(x a + a x): Then rewrite (with linearity, associativity): x 7! x − (x a + a x) a=kak2 (GA product) = −a x a−1 with the geometric inverse of a vector: −1 2 FIG(7,1) a = a=kak . 2 3 Orthogonal Transformations as Products of Unit Vectors A reflection in two successive origin planes a and b: x 7! −b (−a x a−1) b−1 = (b a) x (b a)−1 So a rotation is represented by the geometric product of two vectors b a, also an element of the algebra. -
Chapter 1 Introduction and Overview
Chapter 1 Introduction and Overview ‘ 1.1 Purpose of this book This book is devoted to the kinematic and mechanical issues that arise when robotic mecha- nisms make multiple contacts with physical objects. Such situations occur in robotic grasp- ing, workpiece fixturing, and the quasi-static locomotion of multilegged robots. Figures 1.1(a,b) show a many jointed multi-fingered robotic hand. Such a hand can both grasp and manipulate a wide variety of objects. A grasp is used to affix the object securely within the hand, which itself is typically attached to a robotic arm. Complex robotic hands can imple- ment a wide variety of grasps, from precision grasps, where only only the finger tips touch the grasped object (Figure 1.1(a)), to power grasps, where the finger mechanisms may make multiple contacts with the grasped object (Figure 1.1(b)) in order to provide a highly secure grasp. Once grasped, the object can then be securely transported by the robotic system as part of a more complex manipulation operation. In the context of grasping, the joints in the finger mechanisms serve two purposes. First, the torques generated at each actuated finger joint allow the contact forces between the finger surface and the grasped object to be actively varied in order to maintain a secure grasp. Second, they allow the fingertips to be repositioned so that the hand can grasp a very wide variety of objects with a range of grasping postures. Beyond grasping, these fingers’ degrees of freedom potentially allow the hand to manipulate, or reorient, the grasped object within the hand. -
A Guided Tour to the Plane-Based Geometric Algebra PGA
A Guided Tour to the Plane-Based Geometric Algebra PGA Leo Dorst University of Amsterdam Version 1.15{ July 6, 2020 Planes are the primitive elements for the constructions of objects and oper- ators in Euclidean geometry. Triangulated meshes are built from them, and reflections in multiple planes are a mathematically pure way to construct Euclidean motions. A geometric algebra based on planes is therefore a natural choice to unify objects and operators for Euclidean geometry. The usual claims of `com- pleteness' of the GA approach leads us to hope that it might contain, in a single framework, all representations ever designed for Euclidean geometry - including normal vectors, directions as points at infinity, Pl¨ucker coordinates for lines, quaternions as 3D rotations around the origin, and dual quaternions for rigid body motions; and even spinors. This text provides a guided tour to this algebra of planes PGA. It indeed shows how all such computationally efficient methods are incorporated and related. We will see how the PGA elements naturally group into blocks of four coordinates in an implementation, and how this more complete under- standing of the embedding suggests some handy choices to avoid extraneous computations. In the unified PGA framework, one never switches between efficient representations for subtasks, and this obviously saves any time spent on data conversions. Relative to other treatments of PGA, this text is rather light on the mathematics. Where you see careful derivations, they involve the aspects of orientation and magnitude. These features have been neglected by authors focussing on the mathematical beauty of the projective nature of the algebra. -
Exponential and Cayley Maps for Dual Quaternions
View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by LSBU Research Open Exponential and Cayley maps for Dual Quaternions J.M. Selig Abstract. In this work various maps between the space of twists and the space of finite screws are studied. Dual quaternions can be used to represent rigid-body motions, both finite screw motions and infinitesimal motions, called twists. The finite screws are elements of the group of rigid-body motions while the twists are elements of the Lie algebra of this group. The group of rigid-body displacements are represented by dual quaternions satisfying a simple relation in the algebra. The space of group elements can be though of as a six-dimensional quadric in seven-dimensional projective space, this quadric is known as the Study quadric. The twists are represented by pure dual quaternions which satisfy a degree 4 polynomial relation. This means that analytic maps between the Lie algebra and its Lie group can be written as a cubic polynomials. In order to find these polynomials a system of mutually annihilating idempotents and nilpotents is introduced. This system also helps find relations for the inverse maps. The geometry of these maps is also briefly studied. In particular, the image of a line of twists through the origin (a screw) is found. These turn out to be various rational curves in the Study quadric, a conic, twisted cubic and rational quartic for the maps under consideration. Mathematics Subject Classification (2000). Primary 11E88; Secondary 22E99. Keywords. Dual quaternions, exponential map, Cayley map.