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Paper details
Number 2 - June 2020
Volume 30 - 2020
Solution of an inverse kinematics problem using dual quaternions
Lei Chen, Teresa Zielinska, Jikun Wang, Weimin Ge
Abstract
The paper proposes a solution to an inverse kinematics problem based on dual quaternions algebra. The method, relying
on screw theory, requires less calculation effort compared with commonly used approaches. The obtained kinematic
description is very concise, and the singularity problem is avoided. The dual quaternions formalism is applied to the
problem decomposition and description. As an example, the kinematics problem of a multi-DOF serial manipulator is
considered. Direct and inverse kinematics problems are solved using division into sub-problems. Each new sub-problem
proposed is concerned with rotation about two subsequent axes by a given amount. The presented example verifies the
correctness and feasibility of the proposed approach.
Keywords
dual quaternions, kinematics, simulation, robotics, screw theory