In robotics the group of proper rigid transformations of 3-dimensional space is of central importance. The relevant Clifford algebra in this case is a degenerate one with three generators that square to — 1 and a single generator that squares to 0. The algebra contains a copy of the group’s double cover.


Joint Angle Group Element Clifford Algebra Rigid Body Motion Revolute Joint 
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© Springer Science+Business Media New York 2001

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  • J. M. Selig

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