50 citations · 64 across the 7 of their papers we have counts for
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cs.RO2021★ 14 cited
Singularities of serial robots: Identification and distance computation using geometric algebra
Isiah Zaplana, Hugo Hadfield, Joan Lasenby
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fun…
cs.RO2021★ 50 cited
Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra
Isiah Zaplana, Hugo Hadfield, Joan Lasenby
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails hi…