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Book Chapter

Kinematics and grasping using conformal geometric algebra

  • Zamora-Esquivel J
  • Bayro-Corrochano E
Springer Netherlands, (2006), 473-480
DOI: 10.1007/978-1-4020-4941-5_51
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Abstract

In this paper we introduce the conformal geometric algebra in the field of robot grasping. It help us to tackle problems of object modelling, hand kinematics and vision system using a unifying geometric language. We present an grasp algorithm using velocity control.

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Zamora-Esquivel, J., & Bayro-Corrochano, E. (2006). Kinematics and grasping using conformal geometric algebra. In Advances in Robot Kinematics (pp. 473–480). Springer Netherlands. https://doi.org/10.1007/978-1-4020-4941-5_51

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