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"
}