Modeling and Pose Control of Robotic Manipulators and Legs using Conformal Geometric Algebra

Controlling the pose of a manipulator involves finding the correct configuration of the robot’s elements to move the end effector to a desired position and orientation. In order to find the geometric relationships between the elements of a robot manipulator, it is necessary to define the kinematics of the robot. We present a synthesis of the kinematical… (More)