Publication result 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

English Title

Notes on Planar Inverse Kinematics Based on Geometric Algebra

Type

WoS Article

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

English 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

Key words in English

Clifford algebras, Geometric algebra, Inverse kinematics

Authors

HRDINA, J.; NÁVRAT, A.; VAŠÍK, P.

RIV year

2019

Released

09.07.2018

Publisher

Birkhauser Verlag AG

Location

Basel, Switzerland

ISBN

0188-7009

Periodical

Advances in Applied Clifford Algebras

Volume

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="Advances in Applied Clifford Algebras",
  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"
}