An Improved Unit Quaternion for Attitude Alignment and Inverse Kinematic Solution of the Robot Arm Wrist

An Improved Unit Quaternion for Attitude Alignment and Inverse Kinematic Solution of the Robot Arm Wrist

This paper introduces a new method for kinematic modeling of the robot arm by deriving a new elegant mathematical formula based on the axis vector with the tangent of the rotation angle. For this purpose, an innovative analytical quaternion is introduced through integration between Axis-Invariants a...

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Bibliographic Details
Main Authors: Abubaker Ahmed, Hehua Ju, Yang Yang, Hao Xu
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Machines
Subjects:
attitude alignment
quaternion
Ju-Gibbs quaternion
Robot Arms-wrist
inverse kinematic
Online Access:https://www.mdpi.com/2075-1702/11/7/669

Internet

https://www.mdpi.com/2075-1702/11/7/669

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