Displacement analysis of a 6R serial robot mechanism using conformal geometric algebra

Abstract

In this paper, we present a novel method for displacement analysis of a 6R serial robot mechanism based on conformal geometric algebra (CGA) method. The forward displacement problem of the mechanism is solved using motor and the inverse displacement problem is solved in a geometrically very intuitive way by handling intersections of spheres, circles, and planes, etc. in CGA. It is shown that this method has the advantages of simple computation and geometrical intuition.