<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

Solution of an inverse kinematics problem using dual quaternions

Tianjin Key Laboratory for Advanced Mechatronic Systems Design and Intelligent Control

Faculty of Power and Aeronautical Engineering

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Solution of an inverse kinematics problem using dual quaternions"}

The paper proposes a solution to an inverse kinematics problem based on dual quaternions algebra. The method, relying on screw theory, requires less...

Solution of an inverse kinematics problem using dual quaternions

Publié en ligne: 04 juil. 2020

Pages: 351 - 361

Reçu: 22 août 2019

Accepté: 26 mars 2020

DOI: https://doi.org/10.34768/amcs-2020-0027

Mots clés
dual quaternions, kinematics, simulation, robotics, screw theory

© 2020 Lei Chen et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Solution of an inverse kinematics problem using dual quaternions

Publié en ligne: 04 juil. 2020

Pages: 351 - 361

Reçu: 22 août 2019

Accepté: 26 mars 2020

DOI: https://doi.org/10.34768/amcs-2020-0027

Mots clésdual quaternions, kinematics, simulation, robotics, screw theory

© 2020 Lei Chen et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Mots clés
dual quaternions, kinematics, simulation, robotics, screw theory