TY - GEN
T1 - A comparison study of three screw theory based kinematic solution methods for the industrial robot manipulators
AU - Sariyildiz, Emre
AU - Temeltas, Hakan
PY - 2011
Y1 - 2011
N2 - This paper compares three inverse kinematic formulation methods for 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, two of them use quaternion algebra and the other one uses matrix algebra. Compared with the matrix algebra, the quaternion algebra is more computationally efficient and it needs less storage area. 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 and simulation results are given.
AB - This paper compares three inverse kinematic formulation methods for 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, two of them use quaternion algebra and the other one uses matrix algebra. Compared with the matrix algebra, the quaternion algebra is more computationally efficient and it needs less storage area. 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 and simulation results are given.
KW - Industrial Robot-Arms
KW - Paden-Kahan Subproblems
KW - Quaternion
KW - Screw Theory
KW - Singularity Free Inverse Kinematic
UR - http://www.scopus.com/inward/record.url?scp=81055124201&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2011.5985630
DO - 10.1109/ICMA.2011.5985630
M3 - Conference contribution
AN - SCOPUS:81055124201
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 52
EP - 57
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -
