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"
}