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http://dx.doi.org/10.7736/KSPE.2012.29.10.1119

Inverse Kinematics Analysis of 7-DOF Anthropomorphic Robot Arm using Conformal Geometric Algebra  

Kim, Je-Seok (Department of Automotive Engineering, Hanyang Univ.)
Ji, Yong-Kwan (Department of Automotive Engineering, Hanyang Univ.)
Park, Jahng-Hyon (Department of Automotive Engineering, Hanyang Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.29, no.10, 2012 , pp. 1119-1127 More about this Journal
Abstract
In this paper, we present an inverse kinematics of a 7-dof Anthropomorphic robot arm using conformal geometric algebra. The inverse kinematics of a 7-dof Anthropomorphic robot arm using CGA can be computed in an easy way. The geometrically intuitive operations of CGA make it easy to compute the joint angles of a 7-dof Anthropomorphic robot arm which need to be set in order for the robot to reach its goal or the positions of a redundant robot arm's end-effector. In order to choose the best solution of the elbow position at an inverse kinematics, optimization techniques have been proposed to minimize an objective function while satisfying the euler-lagrange equation.
Keywords
Conformal Geometric Algebra; Inverse Kinematics; Anthropomorphic Robot Arm; Redundant Manipulator;
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