Inverse kinematics computation in robotics using Conformal Geometric Algebra

Conformal Geometric Algebra is a kind of new geometric representation and geometric computation tool. In this paper, an approach to the inverse kinematics of a serial manipulator is presented based on the Conformal Geometric Algebra. First, the basics of the Conformal Geometric Algebra are introduced. Then, an algorithm for the inverse kinematics of a 5-dof serial manipulator is presented, which can be able to comprehend without prior knowledge of geometric algebra.