Publication detail

Notes on Planar Inverse Kinematics Based on Geometric Algebra

HRDINA, J. NÁVRAT, A. VAŠÍK, P.

English title

Notes on Planar Inverse Kinematics Based on Geometric Algebra

Type

journal article in Web of Science

Language

en

Original abstract

We present a method of determining a solution of the inverse kinematics problem based on G_{3,1} for serial robot arm manipulators with an additional condition such as the prescribed gripper trajectory. The algorithm is based on geometrical understanding and G_{3,1} calculations. We propose an algorithm for determining the actuating rotations and, furthermore, we discuss different approaches to their segmentation in order to realize the appropriate motion optimally

English abstract

We present a method of determining a solution of the inverse kinematics problem based on G_{3,1} for serial robot arm manipulators with an additional condition such as the prescribed gripper trajectory. The algorithm is based on geometrical understanding and G_{3,1} calculations. We propose an algorithm for determining the actuating rotations and, furthermore, we discuss different approaches to their segmentation in order to realize the appropriate motion optimally

Keywords in English

Clifford algebras, Geometric algebra, Inverse kinematics

Released

09.07.2018

Publisher

Birkhauser Verlag AG

Location

Basel, Switzerland

ISSN

0188-7009

Volume

28

Number

3

Pages from–to

71–85

Pages count

14

BIBTEX


@article{BUT148668,
  author="Jaroslav {Hrdina} and Aleš {Návrat} and Petr {Vašík},
  title="Notes on Planar Inverse Kinematics Based on Geometric Algebra",
  year="2018",
  volume="28",
  number="3",
  month="July",
  pages="71--85",
  publisher="Birkhauser Verlag AG",
  address="Basel, Switzerland",
  issn="0188-7009"
}