Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time, or the development of particular geometric strategies that cannot be generaliz...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2022 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/381531 |
| Acceso en línea: | https://hdl.handle.net/2117/381531 https://dx.doi.org/10.1016/j.mechmachtheory.2022.104835 |
| Access Level: | acceso abierto |
| Palabra clave: | Mechatronics Robotics Serial robots Redundant robots Inverse kinematics Geometric algebra Conformal geometric algebra Mecatrònica Robòtica Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time, or the development of particular geometric strategies that cannot be generalized to arbitrary serial robots. In this work, we present a compact, elegant and intuitive formulation of robot kinematics based on conformal geometric algebra that provides a suitable framework for the closed-form resolution of the inverse kinematic problem for manipulators with a spherical wrist. For serial robots of this kind, the inverse kinematics problem can be split in two subproblems: the position and orientation problems. The latter is solved by appropriately splitting the rotor that defines the target orientation in three simpler rotors, while the former is solved by developing a geometric strategy for each combination of prismatic and revolute joints that forms the position part of the robot. Finally, the inverse kinematics of 7 DoF redundant manipulators with a spherical wrist is solved by extending the geometric solutions obtained in the non-redundant case. |
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