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Inverse kinematics computation in computer graphics and robotics using conformal geometric algebra

Preprint - Submitted to ICCA7 Proceedings
: Hildenbrand, D.; Zamora, J.; Bayro-Corrochano, E.

Preprint urn:nbn:de:0011-n-337424 (625 KByte PDF)
MD5 Fingerprint: af40933174fcb4d429705da8edf36556
Created on: 03.12.2005

Darmstadt, 2005, 16 pp.
International Conference on Clifford Algebras and their Applications (ICCA) <7, 2005, Toulouse>
Reportnr.: 05i014-GRIS
Journal Article
Preprint, Electronic Publication
Fraunhofer IGD ()
clifford algebra; kinematic

We focus on inverse kinematics applications in computer graphics and robotics based on Conformal Geometric Algebra. Here, geometric objects like spheres and circles that are often needed in inverse kinematics algorithms are simply represented by algebraic objects. We present algorithms for the inverse kinematics of a human arm like kinematic chain and for the grasping of robots and virtual humans. The main benfits of using geometric algebra in the virtual reality software Avalon are the easy, compact and geometrically intuitive formulation of the algorithms and the immediate computation of quaternions.