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A Comparative Study of Three Inverse Kinematic Methods of Serial Industrial Robot Manipulators in the Screw Theory Framework
- Source :
- International Journal of Advanced Robotic Systems, Vol 8, Iss 5 (2011), Scopus-Elsevier, International Journal of Advanced Robotic Systems, Vol 8 (2011), International Journal of Advanced Robotic Systems
- Publication Year :
- 2011
- Publisher :
- SAGE Publishing, 2011.
-
Abstract
- In this paper, we compare three inverse kinematic formulation methods for the serial industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, the first one is based on quaternion algebra, the second one is based on dual‐quaternions, and the last one that is called exponential mapping method is based on matrix algebra. Compared with the matrix algebra, quaternion algebra based solutions are more computationally efficient and they need less storage area. The method which is based on dual‐quaternion gives the most compact and computationally efficient solution. Paden‐Kahan sub‐problems are used to derive inverse kinematic solutions. 6‐DOF industrial robot manipulator's forward and inverse kinematic equations are derived using these formulation methods. Simulation and experimental results are given.
- Subjects :
- Mathematical optimization
Computer science
lcsh:TK7800-8360
Kinematics
lcsh:QA75.5-76.95
law.invention
Computer Science::Robotics
Industrial robot
Artificial Intelligence
law
Applied mathematics
Manipulator
Quaternion
Paden‐Kahan sub‐problems
ComputingMethodologies_COMPUTERGRAPHICS
Robot kinematics
Quaternion algebra
Inverse kinematics
lcsh:Electronics
Rigid body
Computer Science Applications
Screw theory
Robot
Gravitational singularity
Industrial Robot Manipulator
Screw Theory
Dual‐Quaternion
lcsh:Electronic computers. Computer science
Dual quaternion
Software
Singularity Free Inverse Kinematic
Subjects
Details
- Language :
- English
- ISSN :
- 17298814 and 17298806
- Volume :
- 8
- Issue :
- 5
- Database :
- OpenAIRE
- Journal :
- International Journal of Advanced Robotic Systems
- Accession number :
- edsair.doi.dedup.....161a27459a5ec22823fb533ea79ac629