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 algebramotorspose controlserial manipulatorssliding modes

Mathematics Subject Classification ID

Clifford algebras, spinors (15A66) 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)

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Cites work

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

Cited in

(16)

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

Describes a project that uses

Uses Software

• CLUCalc
• Matlab

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