کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
6867473 679600 2016 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Kinematic modeling and control of a robot arm using unit dual quaternions
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Kinematic modeling and control of a robot arm using unit dual quaternions
چکیده انگلیسی
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 equations, in singularity-free representation of task space, in robustness to numerical errors, and in compactness of the representations. The formulation is simple, intuitive and straightforward to implement. We validated this formulation experimentally on a 7 dof robot arm.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 77, March 2016, Pages 66-73
نویسندگان
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