Inverse kinematics computation in robotics using conformal geometric algebra

Abstract

Conformal geometric algebra is a kind of new geometric representation and geometric computation tool. In this paper, an approach to the inverse kinematics of a serial manipulator is presented based on the conformal geometric algebra. First, the basics of the conformal geometric algebra are introduced. Then, an algorithm for the inverse kinematics of a 5-dof serial manipulator is presented, which can be able to comprehend without prior knowledge of geometric algebra. (5 pages)