Publication detail

Application of 2D PGA as an Subalgebra of CRA in Robotics

TICHÝ, R.

Original Title

Application of 2D PGA as an Subalgebra of CRA in Robotics

Type

conference paper

Language

English

Original Abstract

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.

Keywords

Projective geometric algebra;Compass ruler algebra;Inverse kinematics

Authors

TICHÝ, R.

Released

18. 10. 2020

Publisher

Springer Science and Business Media Deutschland GmbH

Location

Switzerland

ISBN

978-3-030-61863-6

Book

Advances in Computer Graphics

Edition

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Edition number

12221

Pages from

472

Pages to

481

Pages count

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",
  series="Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
  volume="2020",
  number="12221",
  pages="472--481",
  publisher="Springer Science and Business Media Deutschland GmbH",
  address="Switzerland",
  doi="10.1007/978-3-030-61864-3\{_}40",
  isbn="978-3-030-61863-6"
}