Position and orientation characteristics of robot mechanisms based on geometric algebra

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• 作者：Chengwei Shen^a ; Lubin Hang^a ; ^{hanglb@126.com} ; Tingli Yang^b
• 关键词：Position and orientation characteristics ; Robot mechanisms ; Geometric algebra ; Moving coordinate system
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：108
• 期：Complete
• 页码：231-243
• 全文大小：1340 K
• 卷排序：108

文摘

The description of position and orientation characteristics for robot mechanisms using GA. A moving coordinate system independent of the position of a mechanism. The outer product for union is extended to the operation of serial kinematic chains. The shuffle product for intersection is extended to the operation of parallel kinematic chains. A direct symbolic algorithm for the motion output characteristics of robot mechanisms.