Publication Details

Sariyildiz, E. & Temeltas, H. (2009). Solution of inverse kinematic problem for serial robot using dual quaterninons and plucker coordinates. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 338-343). United States: IEEE.


In this paper we present a new formulation method to solve kinematic problem of serial robot manipulators. In this method our major aims are to formulize inverse kinematic problem in a compact closed form and to avoid singularity problem. This formulation is based on screw theory with dual - quaternion. Compared with other methods, screw theory methods just establish two coordinates, and its geometrical meaning is obvious. We used dual-quaternion in plücker coordinates as a screw operator for compactness. 6R-DOF industrial robot manipulators forward and inverse kinematic equations are derived using this new formulation and simulation results are given.



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