Kim, Jinwook Lee, Sung-Hee Park, Frank C. 2024-01-20T09:32:30Z 2024-01-20T09:32:30Z 2021-09-04 2014-07 0954-4062 https://pubs.kist.re.kr/handle/201004/126666 Traditional Euler angle-based methods for the kinematic and dynamic modeling of spherical joints involve highly complicated formulas that are numerically sensitive, with complex bookkeeping near local coordinate singularities. In this regard, exponential coordinates are known to possess several advantages over Euler angle representations. This paper presents several new exponential coordinate-based formulas and computational procedures that are particularly useful in the modeling of mechanisms containing spherical joints. Computationally robust procedures are derived for evaluating the forward and inverse formulas for the angular velocity and angular acceleration in terms of exponential coordinates. We show that these formulas simplify the parametrization of joint range limits for spherical joints, and lead to more compact equations in the forward and inverse dynamic analysis of mechanisms containing spherical joints. English SAGE PUBLICATIONS LTD HUMAN SHOULDER COMPLEX ROTATION FORMULATION EQUATION VECTOR Kinematic and dynamic modeling of spherical joints using exponential coordinates Article 10.1177/0954406213511365 1 PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v.228, no.10, pp.1777 - 1785 PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 228 10 1777 1785 scie scopus 000336920000012 2-s2.0-84903973853 Engineering, Mechanical Engineering Article HUMAN SHOULDER COMPLEX ROTATION FORMULATION EQUATION VECTOR Exponential coordinates spherical joint rotation parallel mechanism