Robust pose control of robot manipulators using conformal geometric algebra

DOI10.1007/S00006-014-0448-2zbMATH Open1297.93119OpenAlexW1993005876WikidataQ56426220 ScholiaQ56426220MaRDI QIDQ742363FDOQ742363

Authors: O. Carbajal-Espinosa, Eduardo Bayro-Corrochano, Luis E. González-Jiménez, Alexander Loukianov 

Publication date: 18 September 2014

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

Full work available at URL: https://doi.org/10.1007/s00006-014-0448-2

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zbMATH Keywords

conformal geometric algebrasliding modesmotorspose controlserial manipulators

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85) Clifford algebras, spinors (15A66)

Cites Work

• Title not available (Why is that?)
• Geometric computing. For wavelet transforms, robot vision, learning, control and action.
• Geometric algebra with applications in engineering

Cited In (14)

• Geometric control of the trident snake robot based on CGA
• Kinematics and grasping using conformal geometric algebra
• Efficient implementation of inverse kinematics on a 6-DOF industrial robot using conformal geometric algebra
• A geometric algebra approach to invariance control in sliding regimes for switched systems
• Higher-order logic formalization of conformal geometric algebra and its application in verifying a robotic manipulation algorithm
• Control of 3-link robotic snake based on conformal geometric algebra
• Geometric perception of pose and tracking
• Geometric algebra for conics
• Binocular computer vision based on conformal geometric algebra
• A geometric algebra based higher dimensional approximation method for statics and kinematics of robotic manipulators
• Self-calibration method of binocular vision based on conformal geometric algebra
• CGA-based robotic snake control
• Analysis of dynamic modeling and solution of 3-RPS parallel mechanism based on conformal geometric algebra
• Search for similarity transformation between image point clouds using geometric algebra for conics

Uses Software

• CLUCalc
• Matlab

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