Kinematic algorithms based on Conformal geometic algebra.
The Matlab-functions are forward and inverse kinematic functions for 6-SPS stewart platforms. The script "benchmark_stewart.m" is used for benchmarking of CGA algorithm against conventional spatial kinematics in 3D space.
The CLUViz-scripts include forward and inverse kinematic program for a 6.dof Comau Smart-5 industrial robot. There is also a program for the invers kinematic of a stewart platform. It is recommended to run these files in CLUViz and not CLUCalc, or else there might be trouble with the joint angles.