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2021 | OriginalPaper | Chapter

Dual Quaternion-Based Kinematic Modelling of Serial Manipulators

Authors : Mohsin Dalvi, Shital S. Chiddarwar, Saumya Ranjan Sahoo, M. R. Rahul

Published in: Advances in Mechanical Engineering

Publisher: Springer Singapore

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Abstract

In this paper, a dual quaternion-based methodology for computing the forward and inverse kinematic models for a serial manipulator is presented. A dual quaternion-based forward kinematics model is developed for the Kuka LBR IIWA 7 R800 cobot. An inverse kinematics model is developed that uses dual quaternion differential kinematics and includes Jacobian transpose and damped least squares methods for determining Jacobian pseudo-inverse. Implementation of these methods on a given trajectory shows that, compared to damped least squares, the Jacobian transpose method is faster, but is less immune to singularity and gives more jerky motions.

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Metadata
Title
Dual Quaternion-Based Kinematic Modelling of Serial Manipulators
Authors
Mohsin Dalvi
Shital S. Chiddarwar
Saumya Ranjan Sahoo
M. R. Rahul
Copyright Year
2021
Publisher
Springer Singapore
Book
Advances in Mechanical Engineering

Print ISBN: 978-981-15-3638-0

Electronic ISBN: 978-981-15-3639-7

Copyright Year: 2021

DOI
https://doi.org/10.1007/978-981-15-3639-7_1

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