The Clifford Algebra and the Optimization of Robot Design
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.
KeywordsLocal Error Rotation Matrix Clifford Algebra Revolute Joint Spatial Displacement
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