Cite this article as:

Lomovtseva E. I., Chelnokov Y. N. Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators for example Stanford robot arm. II . Izv. Saratov Univ. (N. S.), Ser. Math. Mech. Inform., 2014, vol. 14, iss. 1, pp. 88-95. DOI: https://doi.org/10.18500/1816-9791-2014-14-1-88-95

Language:

Russian

Heading:

Mechanics

UDC:

531.38+681.5

Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators for example Stanford robot arm. II

Authors:

Lomovtseva Ekaterina Igorevna, Saratov State University, Russia, Saratov, Astrakhanskaya 83 , LomovtsevaEI@yandex.ru

Chelnokov Yurii Nikolaevich, Saratov State University 1, Saratov State University, Russia, 410012, Saratov, Astrahanskaya st., 83 , ChelnokovYuN@info.sgu.ru

Abstract:

The methology of solving the inverce kinematics problem of manipulators by using biquaternion theory of kinematics control is shown on the example of Stanford robot arm. Solving of the inverce kinematics problem of Stanford robot arm is performed using the simplest control law. The analysis of numerical solution results is made. The efficacy of applying the theory of kinematics control for solving the inverce kinematics problem of manipulators is proved. Dual matrix and biquaternion methods of solving direct kinematics problem of manipulators were considered in [1].

Key words:

robot-manipulator, direct kinematics problem, dual direction cosine matrix, biquaternion, quaternion, kinematic equations.

DOI:

https://doi.org/10.18500/1816-9791-2014-14-1-88-95

References

1. Lomovtseva E. I., Chelnokov Yu. N. Dual Matrix

and Biquaternion Methods of Solving Direct and Inverse

Kinematics Problems of Manipulators, for Example

Stanford Robot Arm. I. Izv. Saratov. Univ. (N. S.), Ser.

Math. Mech. Inform., 2013, vol. 13, no. 4. pp. 82–89 (in Russian).

2. Chelnokov Yu. N. Biquaternion Solution of the

Kinematic Control Problem for the Motion of a Rigid