GPU Collision Detection in Conformal Geometric Space

Roa, Eduardo; Theoktisto, Víctor; Fairén, Marta; Navazo, Isabel

doi:10.2312/pt.20111143

V Ibero-American Symposium in Computer Graphics 2021

DOI: 10.2312/pt.20111143

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GPU Collision Detection in Conformal Geometric Space

Eduardo Roa¹,

Víctor Theoktisto²,

Marta Fairén³

et al.

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Geometric Singularity Avoidance of a 3-SPS/S Parallel Mechanism with Redundancy using Conformal Geometric Algebra

Kim¹,

Jeong²,

Park

2015

Journal of the Korean Society for Precision Engineering

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A parallel mechanism with redundancy can be regarded as a means for not only maximizing the benefits of parallel mechanisms but also overcoming their drawbacks. We proposed a novel parallel mechanism by eliminating an unnecessary degree of freedom of the configuration space. Because of redundancy, however, the solution for the inverse kinematics of the developed parallel mechanism is infinite. Therefore, we defined a cost function that can minimize the movement time to the target orientation and found the solution for the inverse kinematics by using a numerical method. In addition, we proposed a method for determining the boundary of the geometric singularity in order to avoid singularities.

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Geometric Singularity Avoidance of a 3-SPS/S Parallel Mechanism with Redundancy using Conformal Geometric Algebra

Kim¹,

Jeong²,

Park

2015

Journal of the Korean Society for Precision Engineering

View full text Add to dashboard Cite

show abstract

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GPU Collision Detection in Conformal Geometric Space

Cited by 1 publication

References 9 publications

Geometric Singularity Avoidance of a 3-SPS/S Parallel Mechanism with Redundancy using Conformal Geometric Algebra

Geometric Singularity Avoidance of a 3-SPS/S Parallel Mechanism with Redundancy using Conformal Geometric Algebra

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