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The Matrix Exponential in Kinematics

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Encyclopedia of Robotics

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Abstract

The description of rigid-body motions using exponential coordinates has become popular in recent years both for robotic manipulator kinematics and for the description of how errors propagate in mobile robotic systems. This chapter reviews the details of the matrix exponential and logarithm for the rotation group, SO(3), and for the rigid-body-motion group, SE(3).

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Gregory S. Chirikjian

  2. Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA

    Gregory S. Chirikjian

Authors
  1. Gregory S. Chirikjian
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Corresponding author

Correspondence to Gregory S. Chirikjian .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Marcelo H. Ang

  2. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

  3. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

Section Editor information

  1. The Henry Samueli School of Engineering, University of California, Irvine, Irvine, CA, USA

    J. Michael McCarthy

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Chirikjian, G.S. (2021). The Matrix Exponential in Kinematics. In: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_142-1

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  • DOI: https://doi.org/10.1007/978-3-642-41610-1_142-1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-41610-1

  • Online ISBN: 978-3-642-41610-1

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