Robot Dynamics

Eduardo Bayro-Corrochano ()
Additional contact information
Eduardo Bayro-Corrochano: CINVESTAV, Electrical Engineering and Computer Science Department

Chapter Chapter 11 in Geometric Algebra Applications Vol. II, 2020, pp 297-357 from Springer

Abstract: Abstract The study of the kinematics and dynamics of robot mechanisms has employed different frameworks, such as vector calculus, quaternion algebra, or linear algebra; the last is used most often. However, in these frameworks, handling the kinematics and dynamics involving only points and lines is very complicated. In previous chapter, the motor algebra was used to treat the kinematics of robot manipulators using the points, lines, and planes. We also used the conformal geometric algebra which includes for the representation also circles and spheres. The use of additional geometric entities helps even more to reduce the representation and computational difficulties.

Date: 2020
References: Add references at CitEc
Citations:

There are no downloads for this item, see the EconPapers FAQ for hints about obtaining it.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-030-34978-3_11

Ordering information: This item can be ordered from
http://www.springer.com/9783030349783

DOI: 10.1007/978-3-030-34978-3_11

Access Statistics for this chapter

More chapters in Springer Books from Springer
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().