Optimizations and Performance of a Robotics Grasping Algorithm Described in Geometric Algebra

Authors:
Florian Wörsdörfer;Florian Stock;Eduardo Bayro-Corrochano;Dietmar Hildenbrand
Affiliations:
Graphical Interactive Systems Group, Technische Universität Darmstadt, Germany;Embedded Systems and Applications Group, Technische Universität Darmstadt, Germany;CINVESTAV, Guadalajara, Mexico;Graphical Interactive Systems Group, Technische Universität Darmstadt, Germany
Venue:
CIARP '09 Proceedings of the 14th Iberoamerican Conference on Pattern Recognition: Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications
Year:
2009

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Abstract

The usage of Conformal Geometric Algebra leads to algorithms that can be formulated in a very clear and easy to grasp way. But it can also increase the performance of an implementation because of its capabilities to be computed in parallel. In this paper we show how a grasping algorithm for a robotic arm is accelerated using a Conformal Geometric Algebra formulation. The optimized C code is produced by the CGA framework Gaalop automatically. We compare this implementation with a CUDA implementation and an implementation that uses standard vector algebra.