Robot Kinematics and Flags
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.
KeywordsJoint Angle Group Element Clifford Algebra Rigid Body Motion Revolute Joint
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