Detail publikace
Application of 2D PGA as an Subalgebra of CRA in Robotics
TICHÝ, R.
Anglický název
Application of 2D PGA as an Subalgebra of CRA in Robotics
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
en
Originální abstrakt
We present a concept of 2D Projective Geometric Algebra (PGA) as a subalgebra of Compass Ruler Algebra (CRA) to handle problems in computer graphics and engineering efficiently in terms of an algebra with minimal dimension. In this case, we can benefit from both CRA and PGA simultaneously. When we deal with complex problems, we can use CRA objects such as circles but at the same time we can switch to PGA as a subalgebra of CRA to handle operations with flat-objects more efficiently without the change of structure of any further implementation. We demonstrate this approach on example of inverse kinematics of a planar 3-link manipulator.
Anglický abstrakt
We present a concept of 2D Projective Geometric Algebra (PGA) as a subalgebra of Compass Ruler Algebra (CRA) to handle problems in computer graphics and engineering efficiently in terms of an algebra with minimal dimension. In this case, we can benefit from both CRA and PGA simultaneously. When we deal with complex problems, we can use CRA objects such as circles but at the same time we can switch to PGA as a subalgebra of CRA to handle operations with flat-objects more efficiently without the change of structure of any further implementation. We demonstrate this approach on example of inverse kinematics of a planar 3-link manipulator.
Klíčová slova anglicky
Projective geometric algebra;Compass ruler algebra;Inverse kinematics
Vydáno
18.10.2020
Nakladatel
Springer Science and Business Media Deutschland GmbH
Místo
Switzerland
ISBN
978-3-030-61863-6
Kniha
Advances in Computer Graphics
Ročník
2020
Číslo
12221
Číslo edice
12221
Strany od–do
472–481
Počet stran
10
BIBTEX
@inproceedings{BUT170613,
author="Radek {Tichý},
title="Application of 2D PGA as an Subalgebra of CRA in Robotics",
booktitle="Advances in Computer Graphics",
year="2020",
volume="2020",
number="12221",
month="October",
pages="472--481",
publisher="Springer Science and Business Media Deutschland GmbH",
address="Switzerland",
isbn="978-3-030-61863-6"
}