Publication detail

Notes on Planar Inverse Kinematics Based on Geometric Algebra

HRDINA, J. NÁVRAT, A. VAŠÍK, P.

Original Title

Notes on Planar Inverse Kinematics Based on Geometric Algebra

Type

journal article in Web of Science

Language

English

Original Abstract

We present a method of determining a solution of the inverse kinematics problem based on G_{3,1} for serial robot arm manipulators with an additional condition such as the prescribed gripper trajectory. The algorithm is based on geometrical understanding and G_{3,1} calculations. We propose an algorithm for determining the actuating rotations and, furthermore, we discuss different approaches to their segmentation in order to realize the appropriate motion optimally

Keywords

Clifford algebras, Geometric algebra, Inverse kinematics

Authors

HRDINA, J.; NÁVRAT, A.; VAŠÍK, P.

Released

9. 7. 2018

Publisher

Birkhauser Verlag AG

Location

Basel, Switzerland

ISBN

0188-7009

Periodical

ADV APPL CLIFFORD AL

Year of study

28

Number

3

State

Swiss Confederation

Pages from

71

Pages to

85

Pages count

14

URL

https://link.springer.com/article/10.1007/s00006-018-0890-7

BibTex

@article{BUT148668,
  author="Jaroslav {Hrdina} and Aleš {Návrat} and Petr {Vašík}",
  title="Notes on Planar Inverse Kinematics Based
on Geometric Algebra",
  journal="ADV APPL CLIFFORD AL",
  year="2018",
  volume="28",
  number="3",
  pages="71--85",
  doi="10.1007/s00006-018-0890-7",
  issn="0188-7009",
  url="https://link.springer.com/article/10.1007/s00006-018-0890-7"
}