Solution of an inverse kinematics problem using dual quaternions

• Autorzy: Chen Lei , Zielinska Teresa , Wang Jikun , Ge Weimin

Identyfikatory

DOI

10.34768/amcs-2020-0027

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

dual quaternions; inverse kinematics problem; screw theory

PL

kwaterniony dualne; zadanie odwrotne kinematyki; teoria śrub

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2020
• Tom: Vol. 30, no. 2
• Strony: 351--361
• Opis fizyczny: Bibliogr. 29 poz., rys., wykr.

Twórcy

autor

Chen Lei

• Tianjin Key Laboratory for Advanced Mechatronic Systems Design and Intelligent Control, Tianjin University of Technology, No. 391 Bin Shui Xi Dao Road, Xiqing District, Tianjin 300384, China

autor

Zielinska Teresa

• Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, ul. Nowowiejska 24, 00-665 Warsaw, Poland

autor

Wang Jikun

• Institute of Automatic Control and Robotics, Faculty of Mechatronics, Warsaw University of Technology, ul. św. Andrzeja Boboli 8, 02-525 Warsaw, Poland

autor

Ge Weimin

• Tianjin Key Laboratory for Advanced Mechatronic Systems Design and Intelligent Control, Tianjin University of Technology, No. 391 Bin Shui Xi Dao Road, Xiqing District, Tianjin 300384, China; National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, No. 391 Bin Shui Xi Dao Road, Xiqing District, Tianjin 300384, China

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).