Year 2020, Volume 13 , Issue 1, Pages 107 - 115 2020-01-30

Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group

İlhan KARAKILIÇ [1] , Soner ERKUŞ [2]


In this work, the exponential and the Cayley maps, from the Lie algebra $\mathfrak{se(2)}$ of the planar motion group $SE(2)$, to the group itself are studied. The comparison between these maps on $SE(2)$ is given by using the Rodrigues vector. A three joint mechanism is discussed as an application.
Kinematics, Lie Group, planar motion group, exponential map, Cayley map, Rodrigues vector
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Primary Language en
Subjects Mathematics
Journal Section Research Article
Authors

Author: İlhan KARAKILIÇ
Institution: DOKUZ EYLÜL ÜNİVERSİTESİ
Country: Turkey


Author: Soner ERKUŞ
Institution: DOKUZ EYLÜL ÜNİVERSİTESİ
Country: Turkey


Dates

Publication Date : January 30, 2020

Bibtex @research article { iejg699429, journal = {International Electronic Journal of Geometry}, issn = {}, eissn = {1307-5624}, address = {}, publisher = {Kazım İLARSLAN}, year = {2020}, volume = {13}, pages = {107 - 115}, doi = {10.36890/iejg.699429}, title = {Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group}, key = {cite}, author = {KARAKILIÇ, İlhan and ERKUŞ, Soner} }
APA KARAKILIÇ, İ , ERKUŞ, S . (2020). Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group. International Electronic Journal of Geometry , 13 (1) , 107-115 . DOI: 10.36890/iejg.699429
MLA KARAKILIÇ, İ , ERKUŞ, S . "Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group". International Electronic Journal of Geometry 13 (2020 ): 107-115 <https://dergipark.org.tr/en/pub/iejg/issue/51297/699429>
Chicago KARAKILIÇ, İ , ERKUŞ, S . "Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group". International Electronic Journal of Geometry 13 (2020 ): 107-115
RIS TY - JOUR T1 - Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group AU - İlhan KARAKILIÇ , Soner ERKUŞ Y1 - 2020 PY - 2020 N1 - doi: 10.36890/iejg.699429 DO - 10.36890/iejg.699429 T2 - International Electronic Journal of Geometry JF - Journal JO - JOR SP - 107 EP - 115 VL - 13 IS - 1 SN - -1307-5624 M3 - doi: 10.36890/iejg.699429 UR - https://doi.org/10.36890/iejg.699429 Y2 - 2018 ER -
EndNote %0 International Electronic Journal of Geometry Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group %A İlhan KARAKILIÇ , Soner ERKUŞ %T Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group %D 2020 %J International Electronic Journal of Geometry %P -1307-5624 %V 13 %N 1 %R doi: 10.36890/iejg.699429 %U 10.36890/iejg.699429
ISNAD KARAKILIÇ, İlhan , ERKUŞ, Soner . "Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group". International Electronic Journal of Geometry 13 / 1 (January 2020): 107-115 . https://doi.org/10.36890/iejg.699429
AMA KARAKILIÇ İ , ERKUŞ S . Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group. Int. Electron. J. Geom.. 2020; 13(1): 107-115.
Vancouver KARAKILIÇ İ , ERKUŞ S . Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group. International Electronic Journal of Geometry. 2020; 13(1): 115-107.