Publication detail
Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra
TICHÝ, R.
English title
Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra
Type
conference paper
Language
en
Original abstract
We present a solution to the inverse kinematics problem of 5 DoF IRB4400 industrial serial robot arm based on conformal geometric algebra. The algorithm relies on the intersections of geometric primitives such as lines, circles, planes and spheres. This approach provides clear geometric intuition about the problem. In the solution we analytically describe the way how to find the final position of each joint and based on these positions we also determine the joint parameters (i.e. the angles) including the orientation according to the robot’s construction.
English abstract
We present a solution to the inverse kinematics problem of 5 DoF IRB4400 industrial serial robot arm based on conformal geometric algebra. The algorithm relies on the intersections of geometric primitives such as lines, circles, planes and spheres. This approach provides clear geometric intuition about the problem. In the solution we analytically describe the way how to find the final position of each joint and based on these positions we also determine the joint parameters (i.e. the angles) including the orientation according to the robot’s construction.
Keywords in English
Conformal geometric algebra;Inverse kinematics;IRB4400
Released
01.01.2020
Publisher
Springer Nature Switzerland AG
Location
Switzerland
ISBN
978-3-030-43889-0
Book
Modelling and Simulation for Autonomous Systems
Edition number
11995
Pages from–to
148–161
Pages count
14
BIBTEX
@inproceedings{BUT170612,
author="Radek {Tichý},
title="Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra",
booktitle="Modelling and Simulation for Autonomous Systems ",
year="2020",
month="January",
pages="148--161",
publisher="Springer Nature Switzerland AG",
address="Switzerland",
isbn="978-3-030-43889-0"
}