- Tytuł:
- Solution of an inverse kinematics problem using dual quaternions
- Autorzy:
-
Chen, Lei
Zielinska, Teresa
Wang, Jikun
Ge, Weimin - Powiązania:
- https://bibliotekanauki.pl/articles/331496.pdf
- Data publikacji:
- 2020
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
dual quaternions
inverse kinematics problem
screw theory
kwaterniony dualne
zadanie odwrotne kinematyki
teoria śrub - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2020, 30, 2; 351-361
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł