Solution of Inverse Kinematic Problem for Serial Robot Using Dual Quaterninons and Plucker Coordinates

Sariyildiz E., Temeltas H.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore, Singapur, 14 - 17 Temmuz 2009, ss.338-343 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/aim.2009.5229992
  • Basıldığı Şehir: Singapore
  • Basıldığı Ülke: Singapur
  • Sayfa Sayıları: ss.338-343
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

In this paper we present a new formulation method to solve kinematic problem of serial robot manipulators. In this method our major aims are to formulize inverse kinematic problem in a compact closed form and to avoid singularity problem. This formulation is based on screw theory with dual - quaternion. Compared with other methods, screw theory methods just establish two coordinates, and its geometrical meaning is obvious. We used dual-quaternion in plucker coordinates as a screw operator for compactness. 6R-DOF industrial robot manipulators forward and inverse kinematic equations are derived using this new formulation and simulation results are given.