Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F20%3APU140261" target="_blank" >RIV/00216305:26210/20:PU140261 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-030-43890-6_12" target="_blank" >http://dx.doi.org/10.1007/978-3-030-43890-6_12</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-43890-6_12" target="_blank" >10.1007/978-3-030-43890-6_12</a>
Alternative languages
Result language
angličtina
Original language name
Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra
Original language description
We present a solution to the inverse kinematics problem of 5 DoF IRB4400 industrial serial robot arm based on conformal geometric algebra. The algorithm relies on the intersections of geometric primitives such as lines, circles, planes and spheres. This approach provides clear geometric intuition about the problem. In the solution we analytically describe the way how to find the final position of each joint and based on these positions we also determine the joint parameters (i.e. the angles) including the orientation according to the robot’s construction.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10102 - Applied mathematics
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Modelling and Simulation for Autonomous Systems
ISBN
978-3-030-43889-0
ISSN
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e-ISSN
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Number of pages
14
Pages from-to
148-161
Publisher name
Springer Nature Switzerland AG
Place of publication
Switzerland
Event location
Palermo, Itálie
Event date
Oct 29, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000628847000012