Back to Search
Start Over
Analytical Solution for Inverse Kinematics Using Dual Quaternions
- Source :
- IEEE Access, Vol 7, Pp 166190-166202 (2019)
- Publication Year :
- 2019
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2019.
-
Abstract
- This paper presents a new solution for inverse kinematics (IK) by using dual quaternions (DQ) as operators and combining them with the Paden-Kahan subproblem to determine the analytical solution. Kinematics under the structure of screw theory makes the process mathematically efficient and gives geometric meaning. Both derived results and simulation outgrowths, when compared with the generally used numerical solution and matrix-based analytical solution, show that our method is faster and does not suffer from the numerical instability caused by being near to a singular configuration. The method has been proven to have the advantages of reducing the computational load and promoting precision, and it can provide multiple choices for IK.
- Subjects :
- 0209 industrial biotechnology
General Computer Science
Structure (category theory)
Paden–Kahan subproblems
02 engineering and technology
Kinematics
dual quaternions (DQ)
01 natural sciences
Matrix (mathematics)
020901 industrial engineering & automation
0103 physical sciences
Applied mathematics
General Materials Science
Electrical and Electronic Engineering
010301 acoustics
Mathematics
Inverse kinematics
Analytical solution
General Engineering
Process (computing)
screw theory
inverse kinematics (IK)
Screw theory
lcsh:Electrical engineering. Electronics. Nuclear engineering
Dual quaternion
lcsh:TK1-9971
Numerical stability
Subjects
Details
- ISSN :
- 21693536
- Volume :
- 7
- Database :
- OpenAIRE
- Journal :
- IEEE Access
- Accession number :
- edsair.doi.dedup.....1aa25bd57c30c2a3166af892594fab1f