Notes on Planar Inverse Kinematics Based on Geometric Algebra

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F18%3APU128323" target="_blank" >RIV/00216305:26210/18:PU128323 - isvavai.cz</a>
Result on the web
<a href="https://link.springer.com/article/10.1007/s00006-018-0890-7" target="_blank" >https://link.springer.com/article/10.1007/s00006-018-0890-7</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s00006-018-0890-7" target="_blank" >10.1007/s00006-018-0890-7</a>

Result language
angličtina
Original language name
Notes on Planar Inverse Kinematics Based on Geometric Algebra
Original language description
We present a method of determining a solution of the inverse kinematics problem based on 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 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
Czech name
—
Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
10102 - Applied mathematics

Project
<a href="/en/project/GA17-21360S" target="_blank" >GA17-21360S: Advances in Snake-like Robot Control</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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