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Motion Representation

In the analysis of robotic manipulators, movement of links, tools, and workpieces in the space is very important. For many other engineering disciplines such as guidance and navigation of mobile robots, airplanes, submarines, missiles, and so on, the representation of spatial location of a rigid body is also of great importance. The ideas developed for this representation originated many years ago [45], when humans were dreaming to fly and many different representations for position and orientation of a rigid body in space ...

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