arXiv
Open Access
2015
Swing-twist decomposition in Clifford algebra
Przemysław Dobrowolski
Abstrak
The swing-twist decomposition is a standard routine in motion planning for humanoid limbs. In this paper the decomposition formulas are derived and discussed in terms of Clifford algebra. With the decomposition one can express an arbitrary spinor as a product of a twist-free spinor and a swing-free spinor (or vice-versa) in 3-dimensional Euclidean space. It is shown that in the derived decomposition formula the twist factor is a generalized projection of a spinor onto a vector in Clifford algebra. As a practical application of the introduced theory an optimized decomposition algorithm is proposed. It favourably compares to existing swing-twist decomposition implementations.
Topik & Kata Kunci
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Przemysław Dobrowolski
Akses Cepat
Informasi Jurnal
- Tahun Terbit
- 2015
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- arXiv
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- Open Access ✓