Exponential Displacement Coordinates by Means of the Adjoint Representation

Bertold Bongardt, John J. Uicker. Exponential Displacement Coordinates by Means of the Adjoint Representation. In Jadran Lenarcic, Bruno Siciliano, editors, Advances in Robot Kinematics 2020, ARK 2020, Ljubljana, Slovenia, June 28 - July 2, 2020. Volume 15 of Springer Proceedings in Advanced Robotics, pages 250-258, Springer, 2020. [doi]