Robot Kinematics and Flags

J. M. Selig

Chapter Chapter 11 in Geometric Algebra with Applications in Science and Engineering, 2001, pp 211-234 from Springer

Abstract: Abstract In robotics the group of proper rigid transformations of 3-dimensional space is of central importance. The relevant Clifford algebra in this case is a degenerate one with three generators that square to — 1 and a single generator that squares to 0. The algebra contains a copy of the group’s double cover.

Keywords: Joint Angle; Group Element; Clifford Algebra; Rigid Body Motion; Revolute Joint (search for similar items in EconPapers)
Date: 2001
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DOI: 10.1007/978-1-4612-0159-5_11

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