待翻譯：Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra

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--> [Submitted on 31 Aug 2026] Title:Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra View a PDF of the paper titled Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra, by Abhilash Nayak and 1 other authors View PDF HTML (experimental) Abstract:The inverse kinematics of generic 3R robots has been investigated through multiple approaches, mainly algebraic methods involving the solution of certain equation sets. Previous geometric interpretations of the solution, characterized as the intersection of a pair of conics have been confined to the joint-space domain. In this article, we study the Inverse Kinematic Model (IKM) of 3R robots, using the advantages of Conformal Geometric Algebra (CGA) to provide further insights on its kinematic properties. Our approach directly yields a univariate polynomial in terms of theta_2 without the need to eliminate theta_1 and theta_3 by reframing the problem as the intersection of two circles, which are fundamental elements within this algebraic framework. Subjects: Robotics (cs.RO) Cite as: arXiv:2609.00311 [cs.RO] (or arXiv:2609.00311v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.00311 arXiv-issued DOI via DataCite (pending registration) Journal reference: In: Holderbaum, W., Selig, J.M. (eds) Advances in the Mathematics of Robotics. IMA 2025. Springer Proceedings in Advanced Robotics, vol 39. Springer, Cham Related DOI: https://doi.org/10.1007/978-3-032-10510-3_8 DOI(s) linking to related resources Submission history From: Durgesh Haribhau Salunkhe [view email] [v1] Mon, 31 Aug 2026 20:01:15 UTC (10,934 KB) Full-text links: Access Paper: View a PDF of the paper titled Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra, by Abhilash Nayak and 1 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)