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local differential geometry; robotics; Lie algebra; asymptotic motion
In this paper the notion of robot-manipulators in the Euclidean space is generalized to the case in a general homogeneous space with the Lie group $G$ of motions. Some kinematic subspaces of the Lie algebra $\Cal G$ (the subspaces of velocity operators, of Coriolis acceleration operators, asymptotic subspaces) are introduced and by them asymptotic and geodesic motions are described.
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