Lie Algebra Contributions to Instantaneous Plane Kinematics

Yıl 2023, Cilt: 5 Sayı: 1, 62 - 67, 22.08.2023

İlhan Karakılıç Derya Bayrıl Aykut

https://doi.org/10.54286/ikjm.1230895

Öz

Roth and Bottema obtain the instantaneous properties of a plane motion and its inverse motion by the instantaneous invariants depending on a canonical frame which was introduced in Veldkamp's dissertation(1963). We obtain the instantaneous invariants depending on the same frame by using Lie algebra of the plane motion.

Anahtar Kelimeler

Geometric kinematics, instantaneous invariants, Lie algebra, time independent planar motion.

Kaynakça

• [1] Bottema, O. and Roth, B. (1990) Theoretical kinematics. Dover Publications.
• [2] Hausdorff, F. (1906). Die symbolische Exponentialformel in der Gruppentheorie. Ber. Verh. Kgl. SËA chs. Ges.Wiss. Leipzig., Math.-phys. Kl., 58, 19-48.
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• [7] Veldkamp, G. R. (1963) Curvature theory in plane kinematics. JB Wolters.