The concept of distance between two rigid-body poses is central for lots of applications: path planning, positioning precision, mechanism synthesis, etc. When real motion tasks are considered, the definition of a distance must take into account the size of the rigid body that performs the task for providing useful pieces of information about the task. In this context, a geometric approach to identify distance metrics, meaningful for kinematics tasks, will be presented together with criteria to evaluate the parameters that appear in the formulas. © Springer Science+Business Media B.V. 2008.
A novel point of view to define the distance between two rigid-body poses
DI GREGORIO, Raffaele
2008
Abstract
The concept of distance between two rigid-body poses is central for lots of applications: path planning, positioning precision, mechanism synthesis, etc. When real motion tasks are considered, the definition of a distance must take into account the size of the rigid body that performs the task for providing useful pieces of information about the task. In this context, a geometric approach to identify distance metrics, meaningful for kinematics tasks, will be presented together with criteria to evaluate the parameters that appear in the formulas. © Springer Science+Business Media B.V. 2008.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in SFERA sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
