Dual Quaternion-Based Kinematic Modelling of Serial Manipulators

2020 ◽  
pp. 1-7
Author(s):  
Mohsin Dalvi ◽  
Shital S. Chiddarwar ◽  
Saumya Ranjan Sahoo ◽  
M. R. Rahul
Keyword(s):  
Dual Quaternion ◽  
Serial Manipulators ◽  
Kinematic Modelling

Kinematic Modelling of UR5 Cobot Using Dual Quaternion Approach

2021 ◽  
pp. 1077-1085
Author(s):  
Mohsin Dalvi ◽  
Shital S. Chiddarwar ◽  
M. R. Rahul ◽  
Saumya Ranjan Sahoo
Keyword(s):  
Dual Quaternion ◽  
Kinematic Modelling

scholarly journals A Novel Dual Quaternion Based Cost Effcient Recursive Newton-Euler Inverse Dynamics Algorithm

2019 ◽  
Vol 1 (2) ◽  
pp. 144-168
Author(s):  
Cristiana Miranda de Farias
Keyword(s):  
Feedback Linearization ◽  
Inverse Dynamics ◽  
Joint Space ◽  
Linearization Method ◽  
Torque Control ◽  
Dual Quaternion ◽  
Serial Manipulators ◽  
Dual Quaternions ◽  
Forward Kinematic ◽  
Computed Torque

In this paper, the well known recursive Newton-Euler inverse dynamics algorithm for serial manipulators is reformulated into the context of the algebra of Dual Quaternions. Here we structure the forward kinematic description with screws and line displacements rather than the well established Denavit-Hartemberg parameters, thus accounting better efficiency, compactness and simpler dynamical models. We also present here the closed solution for the dqRNEA, and to do so we formalize some of the algebra for dual quaternion-vectors and dual quaternion-matrices. With a closed formulation of the dqRNEA we also create a dual quaternion based formulation for the computed torque control, a feedback linearization method for controlling a serial manipulator's torques in the joint space. Finally, a cost analysis of the main Dual Quaternions operations and of the Newton-Euler inverse dynamics algorithm as a whole is made and compared with other results in the literature.

scholarly journals Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

2021 ◽  
pp. 1-1
Author(s):  
Michael Fennel ◽  
Antonio Zea ◽  
Johannes Mangler ◽  
Arne Roennau ◽  
Uwe D. Hanebeck
Keyword(s):  
Haptic Rendering ◽  
Robot Programming ◽  
Serial Manipulators

scholarly journals Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110144
Author(s):  
Qianqian Zhang ◽  
Daqing Wang ◽  
Lifu Gao
Keyword(s):  
Differential Evolution ◽  
Objective Function ◽  
Inverse Kinematics ◽  
Differential Evolution Algorithm ◽  
Weight Coefficient ◽  
Adaptive Mutation ◽  
Feasible Region ◽  
Serial Manipulators ◽  
De Algorithm ◽  
Self Adaptive

To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.

scholarly journals Dual Quaternion Delay Compensating Maneuver Regulation for Fully Actuated UAVs

2020 ◽  
Vol 53 (2) ◽  
pp. 9316-9321
Author(s):  
Giulia Michieletto ◽  
Nicola Lissandrini ◽  
Andrea Antonello ◽  
Riccardo Antonello ◽  
Angelo Cenedese
Keyword(s):  
Dual Quaternion
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