Advances in Applied Clifford Algebras

, Volume 27, Issue 3, pp 2067–2082 | Cite as

Efficient Implementation of Inverse Kinematics on a 6-DOF Industrial Robot using Conformal Geometric Algebra

  • Sondre Sanden Tørdal
  • Geir Hovland
  • Ilya Tyapin
Article

Abstract

This paper presents an implementation of the inverse kinematics (IK) solution for an industrial robot based on Conformal Geometric Algebra where the correct signs of the joint angles are extracted using the multivector coefficients and applying the forward kinematics. The solution presented is twice as fast as traditional IK algorithms implemented using matrix algebra, and more than 45 times faster than the IK provided by the robot manufacturer. The proposed solution has been successfully demonstrated and benchmarked in a 3-DOF motion compensation experiment. In addition to being efficient the presented solution requires less matrix operations than for the traditional IK.

Keywords

Inverse kinematics Industrial robotics Conformal geometric algebra Motion compensation 

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Copyright information

© Springer International Publishing 2016

Authors and Affiliations

  1. 1.The University of AgderGrimstadNorway

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