Detail publikačního výsledku

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

TICHÝ, R.

Originální název

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

Anglický název

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

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

Projective geometric algebra;Compass ruler algebra;Inverse kinematics

Klíčová slova v angličtině

Projective geometric algebra;Compass ruler algebra;Inverse kinematics

Autoři

TICHÝ, R.

Rok RIV

2021

Vydáno

18.10.2020

Nakladatel

Springer Science and Business Media Deutschland GmbH

Místo

Switzerland

ISBN

978-3-030-61863-6

Kniha

Advances in Computer Graphics

Edice

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

Svazek

2020

Číslo

12221

Strany od

472

Strany do

481

Strany počet

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"
}