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Inverse Kinematics of a Serial Robot Arm with a Given Effector Trajectory in Geometric Algebra
 Procházka, Ludvík ; Návrat, Aleš (referee) ; Vašík, Petr (advisor)
In this thesis we find not only solution of inverse kinematics problem, but also an introduction to the theory of geometric algebras. The focus of the thesis is the description of conformal geometric algebra CGA, which we use to solve the planar inverse kinematics of the serial robotic arm. Part of the work is an attachment containing algorithms for solving inverse kinematics of the serial robotic arm when specific trajectory is required.
Detailed record
Inverse Kinematics of a Serial Robot Arm with a Given Effector Trajectory in Geometric Algebra
 Procházka, Ludvík ; Návrat, Aleš (referee) ; Vašík, Petr (advisor)
In this thesis we find not only solution of inverse kinematics problem, but also an introduction to the theory of geometric algebras. The focus of the thesis is the description of conformal geometric algebra CGA, which we use to solve the planar inverse kinematics of the serial robotic arm. Part of the work is an attachment containing algorithms for solving inverse kinematics of the serial robotic arm when specific trajectory is required.
Detailed record

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