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Lie groups theory in robotics
 Horník, Petr ; Vašík, Petr (referee) ; Hrdina, Jaroslav (advisor)
In this thesis we focus on the mathematical description of the forward kinematics in three-dimensional space using orthogonal transformations and matrix theory. Applying the acquired knowledge we solve an example using the method of moving frame. Between bases we pass using the passage matrix and we implement the example in the MATLAB environment. Consequently, we focus on deeper relation with exponential functions and extend the theory by the theory of Lie groups and algebras. Especially, we take notice of the special orthogonal group SO(3). Finally, we enrich the theory with homogeneous transformation and special Euclidean group.
Detailed record
Lie groups theory in robotics
 Horník, Petr ; Vašík, Petr (referee) ; Hrdina, Jaroslav (advisor)
In this thesis we focus on the mathematical description of the forward kinematics in three-dimensional space using orthogonal transformations and matrix theory. Applying the acquired knowledge we solve an example using the method of moving frame. Between bases we pass using the passage matrix and we implement the example in the MATLAB environment. Consequently, we focus on deeper relation with exponential functions and extend the theory by the theory of Lie groups and algebras. Especially, we take notice of the special orthogonal group SO(3). Finally, we enrich the theory with homogeneous transformation and special Euclidean group.
Detailed record

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