Robot Kinematics and Coordinate Transformations
Copyright 1985 IEEE. Reprinted from Proceedings of the 24th IEEE Conference on Decision and Control, Volume 1, 1985, pages 1-4.
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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
This paper introduces a class of linearizing coordinate transformations for mechanical systems whose moment of inertia matrix has a square root which is a jacobian. The transformations, when they exist, define a local isometry from joint space to euclidean space, hence, may afford further insight into the transient behavior of robot motion. It remains to be seen whether any appreciably large class of robots admit such linearizing isometries.
Daniel E. Koditschek. "Robot Kinematics and Coordinate Transformations" Departmental Papers (ESE) (1985).
Available at: http://works.bepress.com/daniel_koditschek/114