Exploració per autor "Sarabandi, Soheil"
Ara es mostren els items 1-10 de 10
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A fast branch-and-prune algorithm for the position analysis of spherical mechanisms
(Springer, 2019)
Text en actes de congrés
Accés obertDifferent branch-and-prune schemes can be found in the literature for numerically solving the position analysis of spherical mechanisms. For the prune operation, they all rely on the propagation of motion intervals. They ... -
A reconfigurable asymmetric 3-UPU parallel robot
(2018)
Text en actes de congrés
Accés obertParallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Nevertheless, some ... -
A survey on the computation of quaternions from rotation matrices
(ASME PRESS, 2019-04-01)
Article
Accés obertThe parameterization of rotations is a central topic in many theoretical and applied fields such as rigid body mechanics, multibody dynamics, robotics, spacecraft attitude dynamics, navigation, 3D image processing, computer ... -
Accurate computation of quaternions from rotation matrices
(Springer International Publishing, 2018)
Text en actes de congrés
Accés obertThe main non-singular alternative to 3×3 proper orthogonal matrices, for representing rotations in R3, is quaternions. Thus, it is important to have reliable methods to pass from one representation to the other. While ... -
Approximating displacements in R^3 by rotations in R^4 and its application to pointcloud registration
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Article
Accés obertNo proper norm exists to measure the distance between two object poses essentially because a general pose is defined by a rotation and a translation, and thus it involves magnitudes with different units. As a means to solve ... -
Hand-eye calibration made easy through a closed-form two-stage method
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Article
Accés obertAn analysis of the existing hand-eye calibration methods reveals that most of them are far from trivial. And, what is worse, their intrinsic complexity makes it difficult to elucidate under which circumstances they fail ... -
On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices
(2019-05-09)
Article
Accés obertA real orthogonal matrix representing a rotation in four dimensions can be decomposed into the commutative product of a left- and a right-isoclinic rotation matrix. This operation, known as Cayley's factorization, directly ... -
Singularity-free computation of quaternions from rotation matrices in E4 and E3
(2018)
Text en actes de congrés
Accés obertA real orthogonal matrix representing a rotation in E4 can be decomposed into the commutative product of a left-isoclinic and a right-isoclinic rotation matrix. The double quaternion representation of rotations in E4 follows ... -
Solving the nearest rotation matrix problem in three and four dimensions with applications in robotics
(Universitat Politècnica de Catalunya, 2021-04-27)
Tesi
Accés obertSince the map from quaternions to rotation matrices is a 2-to-1 covering map, this map cannot be smoothly inverted. As a consequence, it is sometimes erroneously assumed that all inversions should necessarily contain ... -
Yet a better closed-form formula for the 3D nearest rotation matrix problem
(2021)
Report de recerca
Accés obertThis technical report complements the results recently presented in [1] showing that they can be extended to define an efficient and robust method to determine the rotation matrix nearest to an arbitrary 3 × 3 matrix. This ...
