FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION

FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION

Forward kinematics is fundamental to robot design, control, and simulation. Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot. This paper presents a robot forward kinematics algorithm in dual quaternion space. The presented method uses Denavit-H...

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Bibliographic Details
Main Authors: Nikola LJ. Zivkovic, Jelena Z. Vidakovic, Mihailo P. Lazarevic
Format: Article
Language:English
Published: The Serbian Academic Center 2023-06-01
Series:Applied Engineering Letters
Subjects:
forward kinematics
kinematic modelling
dh convention
coordinate frame transformations
quaternions
dual quaternions
robotics
Online Access:https://aeletters.com/vol8-no2-2/

Internet

https://aeletters.com/vol8-no2-2/

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