Solution of inverse kinematic problem for serial robot using dual quaterninons and plücker coordinates

E. Sariyildiz; H. Temeltas

doi:10.1109/AIM.2009.5229992

Solution of inverse kinematic problem for serial robot using dual quaterninons and plücker coordinates

E. Sariyildiz
, H. Temeltas^*

^*Corresponding author for this work

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

34 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages	338-343
Number of pages	6
DOIs	https://doi.org/10.1109/AIM.2009.5229992
Publication status	Published - 2009
Event	2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore Duration: 14 Jul 2009 → 17 Jul 2009

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference	2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Country/Territory	Singapore
City	Singapore
Period	14/07/09 → 17/07/09

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

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10.1109/AIM.2009.5229992

Cite this

Sariyildiz, E., & Temeltas, H. (2009). Solution of inverse kinematic problem for serial robot using dual quaterninons and plücker coordinates. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (pp. 338-343). Article 5229992 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5229992

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title = "Solution of inverse kinematic problem for serial robot using dual quaterninons and pl{\"u}cker coordinates",

abstract = "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 pl{\"u}cker 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.",

author = "E. Sariyildiz and H. Temeltas",

year = "2009",

doi = "10.1109/AIM.2009.5229992",

language = "English",

isbn = "9781424428533",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

pages = "338--343",

booktitle = "2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009",

note = "2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 ; Conference date: 14-07-2009 Through 17-07-2009",

}

Sariyildiz, E & Temeltas, H 2009, Solution of inverse kinematic problem for serial robot using dual quaterninons and plücker coordinates. in 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009., 5229992, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 338-343, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, Singapore, 14/07/09. https://doi.org/10.1109/AIM.2009.5229992

Solution of inverse kinematic problem for serial robot using dual quaterninons and plücker coordinates. / Sariyildiz, E.; Temeltas, H.
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. p. 338-343 5229992 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

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Solution of inverse kinematic problem for serial robot using dual quaterninons and plücker coordinates

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