Although it says that it's solving the problem using geometric algebra, I really can't see how GA makes the problem easier (in terms of both conceptual simplici

Although it says that it's solving the problem using geometric algebra, I really can't see how GA makes the problem easier (in terms of both conceptual simplicity or implementation). You can replace the term 'motor' in the article with 'dual quaternions' and the whole thing doesn't get any more simple or complex.