Some rational vehicle motions

Book chapter

Selig, JM (2013). Some rational vehicle motions. in: Computational Kinematics Proceedings of the 6th International Workshop on Computational Kinematics (CK2013) Springer. pp. 21-29
AuthorsSelig, JM
Abstract

It is observed that the kinematic equations of many vehicles take the same form. This form is that the body-fixed velocity twist of the vehicle lies in a fixed screw-system of a particular type. The Cayley map can be used to pull-back these equations to the Lie algebra of the group of rigid-body motions. Rational solutions to the equations can be found by the method of undetermined coefficients. Since the Cayley map is a rational map, mapping these rational solutions back to the group gives rational rigid-body motions. A 3-parameter family of rational Frenet-Serret motions is found in this way. Multiplying these motions by a rational roll-motion gives a 4-parameter family of aeroplane motions. © Springer Science+Business Media Dordrecht 2014.

Page range21-29
Year2013
Book titleComputational Kinematics Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)
PublisherSpringer
ISBN9789400772137
ISSN2211-0984
Publication dates
Print12 May 2013
Publication process dates
Deposited08 Jun 2017
Accepted12 May 2013
Digital Object Identifier (DOI)https://doi.org/10.1007/978-94-007-7214-4-3
Journal citation15, pp. 21 - 29
Accepted author manuscript
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Open
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