TY - GEN
T1 - Solution of inverse kinematic problem for serial robot using dual quaterninons and plücker coordinates
AU - Sariyildiz, E.
AU - Temeltas, H.
PY - 2009
Y1 - 2009
N2 - In this paper we present a new formulation method to solve kinematic problem of serial robot manipulators. In this method our major aims are to formulize inverse kinematic problem in a compact closed form and to avoid singularity problem. This formulation is based on screw theory with dual - quaternion. Compared with other methods, screw theory methods just establish two coordinates, and its geometrical meaning is obvious. We used dual-quaternion in plücker coordinates as a screw operator for compactness. 6R-DOF industrial robot manipulators forward and inverse kinematic equations are derived using this new formulation and simulation results are given.
AB - In this paper we present a new formulation method to solve kinematic problem of serial robot manipulators. In this method our major aims are to formulize inverse kinematic problem in a compact closed form and to avoid singularity problem. This formulation is based on screw theory with dual - quaternion. Compared with other methods, screw theory methods just establish two coordinates, and its geometrical meaning is obvious. We used dual-quaternion in plücker coordinates as a screw operator for compactness. 6R-DOF industrial robot manipulators forward and inverse kinematic equations are derived using this new formulation and simulation results are given.
UR - http://www.scopus.com/inward/record.url?scp=70350439845&partnerID=8YFLogxK
U2 - 10.1109/AIM.2009.5229992
DO - 10.1109/AIM.2009.5229992
M3 - Conference contribution
AN - SCOPUS:70350439845
SN - 9781424428533
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 338
EP - 343
BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Y2 - 14 July 2009 through 17 July 2009
ER -
