Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra.
Isiah ZaplanaHugo HadfieldJoan LasenbyPublished in: CoRR (2021)
Keyphrases
- inverse kinematics
- closed form solutions
- conformal geometric algebra
- motion planning
- closed form
- multi robot
- robot arm
- robot manipulators
- mobile robot
- position and orientation
- constrained optimization
- special case
- point correspondences
- robotic systems
- end effector
- humanoid robot
- pose estimation
- rigid body motion
- volumetric data
- path planning
- robot control
- geometric algebra
- computer vision
- real robot
- image sequences
- real time
- degrees of freedom