A generalised quaternion and Clifford algebra based mathematical methodology to effect multi-stage reassembling transformations in parallel robots

DOI10.1007/s00006-021-01119-6zbMath1475.70004OpenAlexW3163463203MaRDI QIDQ2047629

Jei Shian Tan, Sudharsan Thiruvengadam, Karol Miller

Publication date: 20 August 2021

Published in: Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00006-021-01119-6

zbMATH Keywords

dynamicsmanipulatortransformationClifford algebraparallelquaternion

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Lagrange's equations (70H03)

Uses Software

• levmar
• SuperBot

Cites Work

• Robot perception and handling actions using the conformal geometric algebra framework
• Clifford algebra to geometric calculus. A unified language for mathematics and physics
• Rigid body dynamics using Clifford algebra
• A geometric algebra based higher dimensional approximation method for statics and kinematics of robotic manipulators
• Conformal geometric algebra for robotic vision
• Springer Handbook of Robotics
• Motor algebra approach for computing the kinematics of robot manipulators
• Geometric Algebra Applications Vol. I
• Motor algebra of 3D kinematics: The case of the hand-eye calibration
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