Detail publikace

Notes on Planar Inverse Kinematics Based on Geometric Algebra

HRDINA, J. NÁVRAT, A. VAŠÍK, P.

Originální název

Notes on Planar Inverse Kinematics Based on Geometric Algebra

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

angličtina

Originální abstrakt

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

Klíčová slova

Clifford algebras, Geometric algebra, Inverse kinematics

Autoři

HRDINA, J.; NÁVRAT, A.; VAŠÍK, P.

Vydáno

9. 7. 2018

Nakladatel

Birkhauser Verlag AG

Místo

Basel, Switzerland

ISSN

0188-7009

Periodikum

ADV APPL CLIFFORD AL

Ročník

28

Číslo

3

Stát

Švýcarská konfederace

Strany od

71

Strany do

85

Strany počet

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"
}