Analytical Solution for Inverse Kinematics Using Dual Quaternions
This paper presents a new solution for inverse kinematics (IK) by using dual quaternions (DQ) as operators and combining them with the Paden-Kahan subproblem to determine the analytical solution. Kinematics under the structure of screw theory makes the process mathematically efficient and gives geom...
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8901137/ |
| _version_ | 1818620845438795776 |
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| author | Ping-Feng Lin Ming-Bao Huang Han-Pang Huang |
| author_facet | Ping-Feng Lin Ming-Bao Huang Han-Pang Huang |
| author_sort | Ping-Feng Lin |
| collection | DOAJ |
| description | This paper presents a new solution for inverse kinematics (IK) by using dual quaternions (DQ) as operators and combining them with the Paden-Kahan subproblem to determine the analytical solution. Kinematics under the structure of screw theory makes the process mathematically efficient and gives geometric meaning. Both derived results and simulation outgrowths, when compared with the generally used numerical solution and matrix-based analytical solution, show that our method is faster and does not suffer from the numerical instability caused by being near to a singular configuration. The method has been proven to have the advantages of reducing the computational load and promoting precision, and it can provide multiple choices for IK. |
| first_indexed | 2024-12-16T17:59:51Z |
| format | Article |
| id | doaj.art-d3018dca9e6b4ecd829c02406d24e35e |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T17:59:51Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-d3018dca9e6b4ecd829c02406d24e35e2022-12-21T22:22:05ZengIEEEIEEE Access2169-35362019-01-01716619016620210.1109/ACCESS.2019.29535538901137Analytical Solution for Inverse Kinematics Using Dual QuaternionsPing-Feng Lin0https://orcid.org/0000-0003-2347-3188Ming-Bao Huang1https://orcid.org/0000-0002-4888-7291Han-Pang Huang2https://orcid.org/0000-0003-4910-8031Department of Mechanical Engineering, National Taiwan University, Taipei, TaiwanDepartment of Mechanical Engineering, National Taiwan University, Taipei, TaiwanDepartment of Mechanical Engineering, National Taiwan University, Taipei, TaiwanThis paper presents a new solution for inverse kinematics (IK) by using dual quaternions (DQ) as operators and combining them with the Paden-Kahan subproblem to determine the analytical solution. Kinematics under the structure of screw theory makes the process mathematically efficient and gives geometric meaning. Both derived results and simulation outgrowths, when compared with the generally used numerical solution and matrix-based analytical solution, show that our method is faster and does not suffer from the numerical instability caused by being near to a singular configuration. The method has been proven to have the advantages of reducing the computational load and promoting precision, and it can provide multiple choices for IK.https://ieeexplore.ieee.org/document/8901137/Analytical solutiondual quaternions (DQ)inverse kinematics (IK)Paden–Kahan subproblemsscrew theory |
| spellingShingle | Ping-Feng Lin Ming-Bao Huang Han-Pang Huang Analytical Solution for Inverse Kinematics Using Dual Quaternions IEEE Access Analytical solution dual quaternions (DQ) inverse kinematics (IK) Paden–Kahan subproblems screw theory |
| title | Analytical Solution for Inverse Kinematics Using Dual Quaternions |
| title_full | Analytical Solution for Inverse Kinematics Using Dual Quaternions |
| title_fullStr | Analytical Solution for Inverse Kinematics Using Dual Quaternions |
| title_full_unstemmed | Analytical Solution for Inverse Kinematics Using Dual Quaternions |
| title_short | Analytical Solution for Inverse Kinematics Using Dual Quaternions |
| title_sort | analytical solution for inverse kinematics using dual quaternions |
| topic | Analytical solution dual quaternions (DQ) inverse kinematics (IK) Paden–Kahan subproblems screw theory |
| url | https://ieeexplore.ieee.org/document/8901137/ |
| work_keys_str_mv | AT pingfenglin analyticalsolutionforinversekinematicsusingdualquaternions AT mingbaohuang analyticalsolutionforinversekinematicsusingdualquaternions AT hanpanghuang analyticalsolutionforinversekinematicsusingdualquaternions |