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Abstract

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.

Keywords

Joint Angle Group Element Clifford Algebra Rigid Body Motion Revolute Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media New York 2001

Authors and Affiliations

  • J. M. Selig

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