Kinematic analysis using dual quaternions
This paper introduces a methodology for the solution of forward and inverse kinematics problems using dual quaternions and the damped least squares Jacobian method. The solution of the forward kinematics problem is given by composition of dual quaternions that represent the position and orientation...
| Autores: | , , , |
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| Formato: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2023 |
| País: | México |
| Recursos: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/9297 |
| Acesso em linha: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/9297 |
| Access Level: | acceso abierto |
| Palavra-chave: | Forward kinematics Inverse kinematics Dual quaternions Damped least squares Jacobian Cinemática directa Cinemática inversa Cuaterniones duales Jacobiano de mínimos cuadrados amortiguados |
| Resumo: | This paper introduces a methodology for the solution of forward and inverse kinematics problems using dual quaternions and the damped least squares Jacobian method. The solution of the forward kinematics problem is given by composition of dual quaternions that represent the position and orientation of the joints. The inverse kinematics problem is nonlinear, so it is approached using the damped least squares Jacobian method. This iterative method allows to obtain a numerical solution for the orientations of the joints of the kinematic chain that places the end effector in a desired position and orientation. A three degrees of freedom kinematic chain is used to show the performance of the proposed methodology. |
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