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"
}