Inverse Kinematics for Industrial Robots using Conformal Geometric Algebra
Inverse Kinematics for Industrial Robots using Conformal Geometric Algebra
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Publisher
Kristiansand: Norsk Forening for Automatisering (NFA)
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Language
English
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Publisher
Kristiansand: Norsk Forening for Automatisering (NFA)
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Contents
This paper shows how the recently developed formulation of conformal geometric algebra can be used for analytic inverse kinematics of two six-link industrial manipulators with revolute joints. The paper demonstrates that the solution of the inverse kinematics in this framework relies on the intersection of geometric objects like lines, circles, pla...
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Full title
Inverse Kinematics for Industrial Robots using Conformal Geometric Algebra
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TN_cdi_doaj_primary_oai_doaj_org_article_470be1e2aa1e4c0eb044a17e4d63b860
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_470be1e2aa1e4c0eb044a17e4d63b860
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ISSN
0332-7353
E-ISSN
1890-1328
DOI
10.4173/mic.2016.1.6
