Robotic mechanisms control

The aim of this thesis is to discuss kinematic models, their properties and control. For this task, we chose a geometric control theory approach. For a predescribed trajectory of the gripper, a straight path in particular, motion planning algorithm for the UR5e robotic arm from Universal Robots is implemented. For the description of motion, the concept of conformal geometric algebra is used. Properties of the algebra objects were thoroughly described and consequently used to propose a model of forward and reverse kinematics of UR5e. Gains and losses of this approach were discussed. The algorithms are implemented in CLUViz 7.0