Robust pose control of robot manipulators using conformal geometric algebra

DOI10.1007/S00006-014-0448-2MaRDI QIDQ742363zbMATH OpenOpenAlexWikidataFDO

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

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)

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Cites work

• scientific article; zbMATH DE number 1620880 (Why is no real title available?)
• Geometric algebra with applications in engineering
• Geometric computing. For wavelet transforms, robot vision, learning, control and action.

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
• Control of 3-link robotic snake based on conformal geometric algebra
• Geometric perception of pose and tracking
• Geometric algebra for conics
• Higher-order logic formalization of conformal geometric algebra and its application in verifying a robotic manipulation algorithm
• Binocular computer vision based on conformal geometric algebra
• A geometric algebra based higher dimensional approximation method for statics and kinematics of robotic manipulators
• CGA-based robotic snake control
• Self-calibration method of binocular vision based on conformal geometric algebra
• 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

Describes a project that uses

Uses Software

• Matlab
• CLUCalc

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