The new applications of Clifford's geometric algebra surveyed in this paper include
kinematics and robotics, computer graphics and animation, neural networks and pattern …

This work addresses the inverse kinematics of serial robots using conformal geometric
algebra. Classical approaches include either the use of homogeneous matrices, which …

To reduce weight and improve overall performance of the industrial welding robot, light-
weight design using the finite element method and structural topological optimization is …

This paper demonstrates a novel geometric modeling and computational method of the
family of spatial parallel mechanisms (PMs) with 3-R (P) S structure for direct kinematic …

We introduce the transcript of direct and differential kinematics of a robotic snake in terms of
Compass Ruler Algebra (CRA). We suppose that the robot moves on a planar surface. We …

逆运动学求解对机械臂位姿控制和轨迹规划具有重要意义, 针对逆运动学求解存在多解及通用
性差的问题, 提出了一种基于改进自适应小生境遗传算法的逆运动学求解算法 …

This paper is devoted to proposing a feedback trajectory tracking control method for
hydraulically driven rock drilling robotic manipulators. The rock drilling robot has a large …

摘要针对多自由度机械臂在障碍物环境下逆运动学求解存在多解性和碰撞问题ꎬ
提出了一种将碰撞检测算法, 最短行程方法与差分进化算法相结合的具有避障能力的机械臂逆 …

This paper presents a novel geometric modeling method for direct displacement analysis of
6-4 Stewart platforms based on conformal geometric algebra (CGA). First, a geometric …

A novel geometric modeling and calculation method for forward displacement analysis of the
6-3 Stewart platforms is proposed by using the conformal geometric algebra (CGA) …