Advertisement

The Clifford Algebra and the Optimization of Robot Design

  • Shawn G. Ahlers
  • John Michael McCarthy

Abstract

The goal of this chapter is a computer aided design environment that assists the inventor to formulate a task and evaluate candidate devices. The task trajectory of a robot is specified as a set of homogeneous transforms that define key frames for a desired end-effector trajectory. These key frames are converted to double quaternions and interpolated by generalizing well known techniques for Bezier interpolation of quaternions. The result is an efficient interpolation algorithm.

Keywords

Local Error Rotation Matrix Clifford Algebra Revolute Joint Spatial Displacement 
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.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer Science+Business Media New York 2001

Authors and Affiliations

  • Shawn G. Ahlers
  • John Michael McCarthy

There are no affiliations available

Personalised recommendations