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...
Main Authors: | Abubaker Ahmed, Hehua Ju, Yang Yang, Hao Xu |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2023-06-01
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Series: | Machines |
Subjects: | |
Online Access: | https://www.mdpi.com/2075-1702/11/7/669 |
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