Efficient implementation of inverse kinematics on a 6-DOF industrial robot using conformal geometric algebra

DOI10.1007/S00006-016-0698-2zbMath1410.70007OpenAlexW2471059302MaRDI QIDQ1695124

Sondre Sanden Tørdal, Geir Hovland, Ilya Tyapin

Publication date: 7 February 2018

Published in: Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00006-016-0698-2

zbMATH Keywords

inverse kinematicsconformal geometric algebramotion compensationindustrial robotics

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Clifford algebras, spinors (15A66)

Related Items (2)

Local controllability of snake robots based on CRA, theory and practice ⋮ New applications of Clifford's geometric algebra

Uses Software

• Gaalop
• Gaigen

Cites Work

• Geometric algebra with applications in engineering
• Inverse kinematics computation in computer graphics and robotics using conformal geometric algebra
• Inverse kinematics of spherical wrist robot arms: Analysis and simulation
• Gaalop—High Performance Parallel Computing Based on Conformal Geometric Algebra

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