DocumentCode
3158927
Title
Inverse kinematics computation in robotics using Conformal Geometric Algebra
Author
Wang, Chaoqun ; Wu, Hongtao ; Miao, Qunhua
Author_Institution
Nanjing Agricultural University, Jiangsu, 210031, China
fYear
2009
fDate
12-14 Oct. 2009
Firstpage
1
Lastpage
5
Abstract
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.
Keywords
Conformal Geometric Algebra; Inverse Kinematics; Serial Manipulator;
fLanguage
English
Publisher
iet
Conference_Titel
Technology and Innovation Conference 2009 (ITIC 2009), International
Conference_Location
Xian, China
Type
conf
DOI
10.1049/cp.2009.1527
Filename
5518596
Link To Document