Kinematic modeling and control of a robot arm using unit dual quaternions

This paper exploits screw theory expressed via unit dual quaternion representation and its algebra to formulate both the forward (position+velocity) kinematics and pose control of an n-dof robot arm in an efficient way. Efficiency is in less computer memory usage, in fast computation of the equation...

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Veröffentlicht in:	Robotics and autonomous systems 2016-03, Vol.77, p.66-73
Hauptverfasser:	Özgür, Erol, Mezouar, Youcef
Format:	Artikel
Sprache:	eng
Schlagworte:	Algebra Automatic Control Dual quaternion Engineering Sciences Kinematics Mathematical models Quaternions Representations Robot arm Robot control Robots Screws
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