Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning

Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning

Kinematic modeling is essential for planning and controlling continuum robot motion. The traditional Denavit Hartenberg (DH) model involves complex matrix multiplication operations, resulting in computationally intensive inverse solutions and trajectory planning. Solving position and orientation cha...

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Bibliographic Details
Main Authors: Yunfei Li, Qiuhao Wang, Qian Liu
Format: Article
Language:English
Published: MDPI AG 2023-10-01
Series:Applied Sciences
Subjects:
Denavit–Hartenberg
continuum robot
dual quaternion Jacobian matrix
trajectory planning
Online Access:https://www.mdpi.com/2076-3417/13/20/11289

Internet

https://www.mdpi.com/2076-3417/13/20/11289

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