FIKA: A Conformal Geometric Algebra Approach to a Fast Inverse Kinematics Algorithm for an Anthropomorphic Robotic Arm

摘要

This paper presents a geometric approach to solve the inverse kinematics for an anthropomorphic robotic arm with seven degrees of freedom (DoF). The proposal is based on conformal geometric algebra (CGA), by which many geometric primitives can be operated naturally and directly. CGA allows for the intersection of geometric entities such as two or more spheres or a plane’s projection over a sphere. Rigid transformations of such geometric entities are performed using only one operation through another geometric entity called a motor. CGA imposes geometric restrictions on the inverse kinematics solution, which avoids computation of the forward kinematics or other numerical solutions, unlike traditional approaches. Comparisons with state-of-the-art algorithms are included to prove our algorithm’s superior performance: such as decreased execution time and errors of the end-effector for a series of desired poses.