Abstract
We present a method of determining a solution of the inverse kinematics problem based on \({\mathbb G}_{3,1}\) for serial robot arm manipulators with an additional condition such as the prescribed gripper trajectory. The algorithm is based on geometrical understanding and \({\mathbb G}_{3,1}\) calculations. We propose an algorithm for determining the actuating rotations and, furthermore, we discuss different approaches to their segmentation in order to realize the appropriate motion optimally.
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This research was supported by a grant of the Czech Science Foundation (GAČR) number 17-21360S, “Advances in Snake-like Robot Control”.
This article is part of the Topical Collection on Proceedings ICCA 11, Ghent, 2017, edited by Hennie De Schepper, Fred Brackx, Joris van der Jeugt, Frank Sommen, and Hendrik De Bie.
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Hrdina, J., Návrat, A. & Vašík, P. Notes on Planar Inverse Kinematics Based on Geometric Algebra. Adv. Appl. Clifford Algebras 28, 71 (2018). https://doi.org/10.1007/s00006-018-0890-7
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DOI: https://doi.org/10.1007/s00006-018-0890-7