Algorithm and performance of the grasping movement of a human-arm-like chain based on conformal geometric algebra

摘要

The purpose of this paper is to survey the computation performance of geometric algebra based program in comparison with the conventional analytic vector algebra method. This will be done by solving a classic inverse kinematics problem of a HAL robot arm model in geometric algebra versions (Gaigen 1, Gaigen 2, CLU and MapleTM) as well as in analytical vector algebra version (IKAN). Our research shows that, the with MapleTM optimized geometric algebra approach and Gaigen 2 based approach have the more efficient performance than the vector algebra method. This give us a reason to explain why the geometric algebra is better than the analytic vector algebra approach. In addition geometric algebra is easy to understand, convenient to apply, compact and intuitive for algorithm development. Geometric algebra should have a wide application field in computer graphics and computer simulation areas in the future.