Detail publikace

Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra

TICHÝ, R.

Anglický název

Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova anglicky

Conformal geometric algebra;Inverse kinematics;IRB4400

Vydáno

01.01.2020

Nakladatel

Springer Nature Switzerland AG

Místo

Switzerland

ISBN

978-3-030-43889-0

Kniha

Modelling and Simulation for Autonomous Systems

Číslo edice

11995

Strany od–do

148–161

Počet stran

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"
}