Efficient implementation of inverse kinematics on a 6-dof industrial robot using conformal geometric algebra
This paper presents an implementation of the inverse kinematics (IK) solution for an
industrial robot based on Conformal Geometric Algebra where the correct signs of the joint
angles are extracted using the multivector coefficients and applying the forward kinematics.
The solution presented is twice as fast as traditional IK algorithms implemented using matrix
algebra, and more than 45 times faster than the IK provided by the robot manufacturer. The
proposed solution has been successfully demonstrated and benchmarked in a 3-DOF …
industrial robot based on Conformal Geometric Algebra where the correct signs of the joint
angles are extracted using the multivector coefficients and applying the forward kinematics.
The solution presented is twice as fast as traditional IK algorithms implemented using matrix
algebra, and more than 45 times faster than the IK provided by the robot manufacturer. The
proposed solution has been successfully demonstrated and benchmarked in a 3-DOF …
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