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Acknowledgements
I like to thank everyone who directly or indirectly contributed to this work.
First of all, I gratefully thank my thesis adviser Prof. Dr. Christian Schlegel for the opportunity
to work in the ZAFH Servicerobotik the last years. I found it to be an interesting research area and
I have learned a lot during this time. He gave me the chance to do this thesis on coordinate frame
transformations in robotics and helped me to keep the focus in my research.
I would also like to thank Prof. Dr. Klaus Baer, who spontaneously agreed to act as co-adviser for
my thesis.
Furthermore, special thanks go to my colleagues at the ZAFH Servicerobotik at the University
of Applied Sciences Ulm for many fruitful discussions and the encouragement to do this work on
transformations. In particular, I want to thank Siegfried Hochdorfer who helped we with some math
and always had an open ear for questions.
Further, I want to thank my family and friends for supporting me during this work. Special
thanks go to my long-suffering wife Claudia for her patience in the last year, when I spent nights and
weekends at the study desk. Especially in the last weeks she relieved me of many of my everyday
duties. Finally, eternal thanks to my God and Savior, Jesus Christ.
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