Creator:

Chen, Lei ; Zielińska, Teresa ; Wang, Jikun ; Ge, Weimin

Contributor:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Title:

Solution of an inverse kinematics problem using dual quaternions

Group publication title:

AMCS, volume 30 (2020)

Subject and Keywords:

dual quaternions ; kinematics ; simulation ; robotics ; screw theory

Abstract:

The paper proposes a solution to an inverse kinematics problem based on dual quaternions algebra. The method, relying on screw theory, requires less calculation effort compared with commonly used approaches. The obtained kinematic description is very concise, and the singularity problem is avoided. The dual quaternions formalism is applied to the problem decomposition and description. As an example, the kinematics problem of a multi-DOF serial manipulator is considered. Direct and inverse kinematics problems are solved using division into sub-problems. Each new sub-problem proposed is concerned with rotation about two subsequent axes by a given amount. The presented example verifies the correctness and feasibility of the proposed approach.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2020

Resource Type:

artykuł

DOI:

10.34768/amcs-2020-0027

Pages:

351-361

Source:

AMCS, volume 30, number 2 (2020) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego