Section: New Results

Formal foundations of 3D geometry for robot manipulators

Participants : Cyril Cohen, Reynald Affeldt [AIST, Japan] .

We formalized the 3D geometry concepts used in the description of kinematics chains, in particular: rotations, rigid body tranformations, screw motions, frame changes, and the Denavit-Hartenberg Convention. This lead to a publication to appear in the internaltional conference CPP 2017 [7].