The Clifford Algebra and the Optimization of Robot Design

Abstract

The goal of this chapter is a computer aided design environment that assists the inventor to formulate a task and evaluate candidate devices. The task trajectory of a robot is specified as a set of homogeneous transforms that define key frames for a desired end-effector trajectory. These key frames are converted to double quaternions and interpolated by generalizing well known techniques for Bezier interpolation of quaternions. The result is an efficient interpolation algorithm.