High-order inverse dynamics of serial robots based on projective geometric algebra

DOI10.1007/s11044-023-09915-7OpenAlexW4377028082MaRDI QIDQ6065504

Ye Ding, Guangzhen Sun

Publication date: 11 December 2023

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-023-09915-7

zbMATH Keywords

serial robotsprojective geometric algebrahigh-order inverse dynamics

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55)

Cites Work

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• A statically balanced SCARA-like industrial manipulator with high energetic efficiency
• Rigid body dynamics using Clifford algebra
• Closed-form time derivatives of the equations of motion of rigid body systems
• Geometric algebras for Euclidean geometry
• Doing Euclidean plane geometry using projective geometric algebra
• Conformal geometric algebra for robotic vision
• Fundamentals of Robotic Mechanical Systems
• Geometric Fundamentals of Robotics
• Geometric-Algebra Adaptive Filters
• Computational line geometry

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