Abstract
The paper presents an elementary introduction and application of Lie algebra to compound groups of large rotations. Following an elementary overview of the foundations of Lie algebra, the authors discuss the rotational groups LO (3) and the exponential form of the rotation matrix. These yield a practical link between the elegance of Lie group theory and engineering kinematics. Some illustrative examples, as the standard Stanford manipulator, indicate interesting possibilities on enlarged applications concerning robotic mechanisms, vehicles and biosystems.
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