Please use this identifier to cite or link to this item: http://hdl.handle.net/10316/11563
Title: On computing real logarithms for matrices in the Lie group of special Euclidean motions in Rn
Authors: Cardoso, J. R. 
Leite, F. Silva 
Keywords: Lie group of Euclidean motions in IRn; Matrix logarithms; Matrix exponentials; Padé approximants method
Issue Date: 1999
Publisher: Centro de Matemática da Universidade de Coimbra
Citation: Pré-Publicações DMUC. 99-01 (1999)
Abstract: We show that the diagonal Pade approximants methods, both for computing the principal logarithm of matrices belonging to the Lie groupSE (n, IR) of special Euclidean motions in IRn and to compute the matrix exponential of elements in the corresponding Lie algebra se(n, IR), are structure preserving. Also, for the particular cases when n == 2,3 we present an alternative closed form to compute the principal logarithm. These low dimensional Lie groups play an important role in the kinematic motion of many mechanical systems and, for that reason, the results presented here have immediate applications in robotics
URI: http://hdl.handle.net/10316/11563
Rights: openAccess
Appears in Collections:FCTUC Matemática - Artigos em Revistas Nacionais

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