Abstract
This chapter presents the inverse kinematics application of a simple robot. All the figures in this chapter are screenshots of a CLUCalc application that can be downloaded from We present the Geometric Algebra algorithm for this application step by step. The geometrically intuitive operations of CGA make it easy to compute the joint angles of this robot that have to be set in order for the robot to reach its new position.
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References
Eduardo Bayro-Corrochano. Geometric Computing for Wavelet Transforms, Robot Vision, Learning, Control and Action. Springer, 2010.
Eduardo Bayro-Corrochano and Julio Zamora-Esquivel. Inverse kinematics, fixation and grasping using conformal geometric algebra. In IROS 2004, Sendai, Japan, 2004.
Dietmar Hildenbrand. Geometric computing in computer graphics using conformal geometric algebra. Computers & Graphics, 29(5):802–810, 2005.
Dietmar Hildenbrand, Joachim Pitt, and Andreas Koch. Gaalop – high performance parallel computing based on conformal geometric algebra. In Eduardo Bayro-Corrochano and Gerik Scheuermann, editors, Geometric Algebra Computing in Engineering and Computer Science. Springer, May 2010.
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© 2013 Springer-Verlag Berlin Heidelberg
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Hildenbrand, D. (2013). Inverse Kinematics of a Simple Robot. In: Foundations of Geometric Algebra Computing. Geometry and Computing, vol 8. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31794-1_7
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DOI: https://doi.org/10.1007/978-3-642-31794-1_7
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Online ISBN: 978-3-642-31794-1
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