Detail publikačního výsledku

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

Anglický název

Notes on Planar Inverse Kinematics Based on Geometric Algebra

Druh

Článek WoS

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

Anglický 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

Klíčová slova v angličtině

Clifford algebras, Geometric algebra, Inverse kinematics

Autoři

HRDINA, J.; NÁVRAT, A.; VAŠÍK, P.

Rok RIV

2019

Vydáno

09.07.2018

Nakladatel

Birkhauser Verlag AG

Místo

Basel, Switzerland

ISSN

0188-7009

Periodikum

Advances in Applied Clifford Algebras

Svazek

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="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"
}