Iterative inverse kinematics for robot manipulators using quaternion algebra and conformal geometric algebra

DOI10.1007/s11012-022-01512-wOpenAlexW4224067835MaRDI QIDQ6110936

E. Macias-Garcia, L. Lechuga-Gutierrez, Eduardo Bayro-Corrochano, Julio Zamora-Esquivel, G. Martínez-Terán

Publication date: 2 August 2023

Published in: Meccanica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11012-022-01512-w

zbMATH Keywords

inverse kinematicsrobot manipulatorsquaternion algebraconformal geometric algebra

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (2)

Iterative inverse kinematics for robot manipulators using quaternion algebra and conformal geometric algebra ⋮ A fast forward kinematics algorithm based on planar quaternion solution for a class of 3-DoF planar parallel mechanisms

Cites Work

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• Conformal geometric algebra for robotic vision
• Rethinking Quaternions
• Geometric Algebra Applications Vol. II
• The method of steepest descent for non-linear minimization problems
• Mathematics for computer graphics
• Motor algebra of 3D kinematics: The case of the hand-eye calibration
• Iterative inverse kinematics for robot manipulators using quaternion algebra and conformal geometric algebra

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