dc.contributor
Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.contributor
Universitat Politècnica de Catalunya. CDEI-DM - Centre de Disseny d'Equips Industrials-Dinàmica de Màquines
dc.contributor.author
Pérez Gracia, Alba
dc.contributor.author
McCarthy, John Michael
dc.identifier
Perez Gracia, A.; McCarthy, J. Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2005 IEEE International Conference on Robotics and Automation". 2005, p. 4720-4726.
dc.identifier
https://hdl.handle.net/2117/363172
dc.description.abstract
In this paper we formulate the “generalized inverse kinematics problem” for a spatial serial chain, where the goal is to determine values for structural parameters as well as for the joint parameters. The kinematics equations of the chain are formulated first using matrix exponentials and then cast into a form based on exponentials in a Clifford algebra. These equations contain the coordinates of the joint axes explicitly and have a systematic structure that can be exploited in their solution. As an example we fit a seven degree-of-freedom CCS chain to a 12 position task trajectory. In this problem, we can also specify desired values for the first two joint angles, and compute the structural parameters and the remaining joint angles.
dc.description.abstract
Peer Reviewed
dc.description.abstract
Postprint (author's final draft)
dc.format
application/pdf
dc.relation
https://ieeexplore.ieee.org/document/1570847
dc.rights
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights
Restricted access - publisher's policy
dc.rights
Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.subject
Àrees temàtiques de la UPC::Enginyeria mecànica
dc.subject
Mechanical movements
dc.subject
Clifford algebra
dc.subject
Moviments mecànics
dc.title
Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials
dc.type
Conference report
