An improved inverse kinematics solution of 6R-DOF robot manipulators with euclidean wrist using dual quaternions

Leoro Josuet, Betancourt Carlos, Lin Hsien-I, Te-Sheng Hsiao*, Wang Chun-Sheng

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

The present work focuses on the development of a methodology that can be used to solve the inverse kinematics of 6R robot manipulators with Euclidean wrist. Dual quaternions are used as screw motion operators to perform line transformations to the joint axes. The transformations are performed after each joint angle is found. This process accommodates the robot pose on each step from the initial pose to the final pose when all the joint angles have been found. In each step, the appropriate sub problems of Paden-Kahan are used to find the joint angles. The main contribution of the presented methodology is that it is a more general solution than previous approaches. Additionally, an extension of the second sub problem of Paden-Kahan is derived for parallel axes. The proposed algorithm can be used to solve the inverse kinematics problem of most of the 6R robot manipulator configurations, with or without shoulder offset, and with or without intersecting axes of the first and second joint.

Original languageEnglish
Title of host publication2016 International Automatic Control Conference, CACS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages77-82
Number of pages6
ISBN (Electronic)9781509041084
DOIs
StatePublished - 10 Jul 2017
Event2016 International Automatic Control Conference, CACS 2016 - Taichung, Taiwan
Duration: 9 Nov 201611 Nov 2016

Publication series

Name2016 International Automatic Control Conference, CACS 2016

Conference

Conference2016 International Automatic Control Conference, CACS 2016
CountryTaiwan
CityTaichung
Period9/11/1611/11/16

Fingerprint Dive into the research topics of 'An improved inverse kinematics solution of 6R-DOF robot manipulators with euclidean wrist using dual quaternions'. Together they form a unique fingerprint.

  • Cite this

    Josuet, L., Carlos, B., Hsien-I, L., Hsiao, T-S., & Chun-Sheng, W. (2017). An improved inverse kinematics solution of 6R-DOF robot manipulators with euclidean wrist using dual quaternions. In 2016 International Automatic Control Conference, CACS 2016 (pp. 77-82). [7973887] (2016 International Automatic Control Conference, CACS 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2016.7973887