Abstract
The inverse kinematics of 6-DOF manipulator is one of the main concerns and difficult problem in robotics. This dissertation presents a new method for the inverse kinematics of 6-DOF manipulator based on dual quaternion which uses dual quaternion to respect both rotation and translation in a single transformation vector. So all the revolute joints of 6-DOF manipulator can be denoted by dual quaternion. The simulation was provided to verify the feasibility and precision of the proposed new method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Liu, D., Wang, T.: Algorithm combined analytical and numerical solutions for robot inverse kinematics. Journal of Beijing University of Aeronautics and Astronautics 33(6), 727–730 (2007) (in Chinese)
Angeles, J.: On the numerical solution for inverse kinematics problem. Int J. Robotics Research 4(2), 21–37 (1985)
Xu, J., Wang, W.: Two optimization algorithm for solving robotics inverse kinematics with redundancy. In: IEEE International Conference on Control and Automation, ICCA 2007, pp. 3021–3028 (2007)
Du, Y., Wu, Y.: Application of IPSO algorithm to inverse kinematics solution of reconfigurable modular robots. In: 2011 International Conference on Mechatronic Science, Electric Engineering and Computer, pp. 19–22 (2011)
Shen, X.-N., Li, S.: Multi-object Genetic Algorithm for Inverse Kinematics Problem of Redundant Manipulator. Journal of System Simulation 20(2), 399–403 (2008) (in Chinese)
Bi, Z., Cai, H.: Inverse Kinematics Problem of 6-DOF Manipulator. Robot 16(2), 92–97 (1994)
Ni, Z., Liao, Q.: Dual Four Element Method for Inverse Kinematics Analysis of Spatial 6R Manipulator. Journal of Mechanical Engineering 11(45), 25–29 (2009) (in Chinese)
Mandic, D.P., Jahanchahi, C.: A quaternion gradient operator and its application. IEEE Signal Processing Letters 1(18), 47–50 (2011)
Pham, H.-L., Predereau, V.: Position and orientation control of robot manipulators using dual quaternion feedback. Intelligent Robots and System(IROS), 658–663 (2010)
Caccavale, F., Siciliano, B.: Quaternion-based kinematic control of redundant spacecraft/manipulator system. In: Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp. 435–440 (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Nan, Y., Wu, P. (2012). A New Method for the Inverse Kinematics of 6-DOF Manipulator Based on Dual Quaternion. In: Jin, D., Lin, S. (eds) Advances in Mechanical and Electronic Engineering. Lecture Notes in Electrical Engineering, vol 176. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31507-7_49
Download citation
DOI: https://doi.org/10.1007/978-3-642-31507-7_49
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-31506-0
Online ISBN: 978-3-642-31507-7
eBook Packages: EngineeringEngineering (R0)