Mathematics, Systems and Robotics Seminar 

01/06/2007, 15:00 — 16:00 — Room P10, Mathematics Building
João Almeida, ISR/IST

Rational Trigonometry applied to Robotics

This talk addresses a possible application of Rational Trigonometry to Robotics, more specifically, to Robot Kinematics. Rational Trigonometry is a relatively new mathematical framework for trigonometric analysis, yet to be widely accepted. It replaces many classic trigonometric concepts with new ones and has as its main concepts quadrance (square of distance) and spread (square of the sine of an angle). A new model for direct kinematics is described, introducing new concepts such as Reference Frame Matrices, Structure Matrices or Sensor-actuator data conversion matrices. Series and parallel robotic structures are discussed and exemplified.