Abstract
The aim of this work is to present a tool for computations in robotics. In the first part, we present a mathematical structure which allows us to manipulate points, lines and spheres in the same environment, called a Clifford Algebra. We show how it is related to quaternions, dual quaternions and displacements and we give examples of symbolic manipulations of these objects. We illustrate this formalism, showing how the usual geometrical objects (linear spaces, spheres and displacements) can be manipulated in a same and coherent way.
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© 1995 Springer Science+Business Media Dordrecht
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Mourrain, B., Stolfi, N. (1995). Applications of Clifford Algebras in Robotics. In: Merlet, JP., Ravani, B. (eds) Computational Kinematics ’95. Solid Mechanics and Its Applications, vol 40. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-0333-6_5
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DOI: https://doi.org/10.1007/978-94-011-0333-6_5
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-4147-8
Online ISBN: 978-94-011-0333-6
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