INVERSE KINEMATICS COMPUTATION IN ROBOTICS USING CONFORMAL GEOMETRIC ALGEBRA

摘要：

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.

关键词： Inverse Kinematics Serial Manipulator Conformal Geometric Algebra.

作者: WANG Chaoqun WU Hongtao MIAO Qunhua

作者单位: Nanjing Agricultural University, Nanjing, Jiangsu, 210031, China Nanjing Aeronautic and Astronautic Nanjing Aeronautic and Astronautic University, Nanjing, Jiangsu, 210016

会议类型: 国际会议

会议名称: International Technology and Innovation Conference 2009(2009技术与创新国际学术会议)

会议地点: 西安

会议语种:英文

页码: 1-5

在线出版日期: 2009-10-12（万方平台首次上网日期，不代表论文的发表时间）