Abstract
In this chapter we present a general overview of the kinematics of serial robotic manipulators based on the conformal geometric algebra, which simplifies its formulation and provides means for solving, clearly and efficiently, several of the main classical problems in this field. The core of the material presented in this chapter is assembled from Section 4.2 onwards, and for convenience of the reader Section 4.1 is devoted to provide a brief review of the classical approach to robot kinematics.
Cite
CITATION STYLE
Lavor, C., Xambó-Descamps, S., & Zaplana, I. (2018). Robot kinematics. In SpringerBriefs in Mathematics (pp. 75–100). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-319-90665-2_4
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