Efficient Implementation of Inverse Kinematics on a 6-DOF Industrial Robot using Conformal Geometric Algebra

摘要

This paper presents an implementation of the inverse kinematics (IK) solution for an industrial robot based on Conformal Geometric Algebra where the correct signs of the joint angles are extracted using the multivector coefficients and applying the forward kinematics. The solution presented is twice as fast as traditional IK algorithms implemented using matrix algebra, and more than 45 times faster than the IK provided by the robot manufacturer. The proposed solution has been successfully demonstrated and benchmarked in a 3-DOF motion compensation experiment. In addition to being efficient the presented solution requires less matrix operations than for the traditional IK.