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A new insight into the coupler curves of the RCCC four-bar linkage
(Springer, 2017)
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Based on the condition for four points to lie on the unit sphere, derived using Distance Geometry, a new mathematical formulation for the coupler curves of the RCCC linkage is presented. The relevance of this formulation ...
On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices
(2019-05-09)
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Article.
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A 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 ...
On Cayley's factorization of 4D rotations and applications
(2017-03-01)
Article.
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Article.
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A 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ...
Grasping unknown objects in clutter by superquadric representation
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
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In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object ...
Singularity-free computation of quaternions from rotation matrices in E4 and E3
(2018)
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A 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 ...