Abstract
This chapter presents the geometric algebra framework for dealing with 3D kinematics. The reader will see the usefulness of this mathematical approach with respect to the modelling of the motion of points, lines and planes. Chapters 19 and 21 illustrate the application of this mathematical system for the direct and inverse kinematics of robot manipulators and for the problem of estimating line motions, respectively.
This work has been supported by DFG Grant So-320-2-1
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© 2001 Springer-Verlag Berlin Heidelberg
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Bayro-Corrochano, E. (2001). The Geometry and Algebra of Kinematics. In: Sommer, G. (eds) Geometric Computing with Clifford Algebras. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-04621-0_18
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DOI: https://doi.org/10.1007/978-3-662-04621-0_18
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-07442-4
Online ISBN: 978-3-662-04621-0
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