Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra.
Radek TichýPublished in: MESAS (2019)
Keyphrases
- inverse kinematics
- conformal geometric algebra
- robot manipulators
- robot arm
- position and orientation
- end effector
- motion planning
- pose estimation
- rigid body motion
- path planning
- degrees of freedom
- deformable mesh
- joint angles
- mobile robot
- configuration space
- control scheme
- humanoid robot
- fuzzy rules
- experimental data
- multi modal
- vision system
- geometric algebra
- machine learning