Solution of an Inverse Kinematics Problem Using the Dual Quaternion

Lei Chen , Teresa Zielińska , Jikun Wang , Weimin Ge

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.
Author Lei Chen
Lei Chen,,
-
, Teresa Zielińska (FPAE / IAAM)
Teresa Zielińska,,
- The Institute of Aeronautics and Applied Mechanics
, Jikun Wang (FM / IACR)
Jikun Wang,,
- The Institute of Automatic Control and Robotics
, Weimin Ge
Weimin Ge,,
-
Journal seriesInternational Journal of Applied Mathematics & Computer Science, ISSN 1641-876X
Issue year2020
Vol30
No2
Pages351-361
Publication size in sheets0.5
Keywords in Englishdual quaternions, kinematics, simulation, robotics, screw theory
ASJC Classification1701 Computer Science (miscellaneous); 2201 Engineering (miscellaneous); 2604 Applied Mathematics
DOIDOI:10.34768/amcs-2020-0027
Languageen angielski
LicenseJournal (articles only); published final; Uznanie Autorstwa - Użycie Niekomercyjne - Bez utworów zależnych (CC-BY-NC-ND); after publication
File
WUT8d3015f8cfc0454f9f58ece742ef4650.pdf 1,010.3 KB
Score (nominal)100
Score sourcejournalList
ScoreMinisterial score = 100.0, 14-09-2020, ArticleFromJournal
Publication indicators WoS Citations = 0; Scopus SNIP (Source Normalised Impact per Paper): 2018 = 1.361; WoS Impact Factor: 2018 = 1.504 (2) - 2018=1.553 (5)
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