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...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-10-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/13/20/11289 |
| _version_ | 1797447074735718400 |
|---|---|
| author | Yunfei Li Qiuhao Wang Qian Liu |
| author_facet | Yunfei Li Qiuhao Wang Qian Liu |
| author_sort | Yunfei Li |
| collection | DOAJ |
| description | 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 changes in continuum robots using the double quaternion rule can reduce computational complexity. However, existing dual quaternion methods are direct equational transformations of DH rules and do not give a complete modeling process. They usually require more interpretability when applying continuum robot kinematic modeling. This paper uses the dual quaternion method to establish a kinematic model of a continuum robot. It uses a two-section continuum robot model to compare the advantages of dual quaternion and traditional modeling methods. In addition, this paper proposes a five-polynomial interpolation algorithm based on the dual quaternion method for trajectory planning of continuum robots. This method accurately models spatial bending and torsional motions of singularity-free continuum robots. |
| first_indexed | 2024-03-09T13:50:38Z |
| format | Article |
| id | doaj.art-f6c08f034e9e46e4abb3d6fcf489eef2 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T13:50:38Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-f6c08f034e9e46e4abb3d6fcf489eef22023-11-30T20:52:00ZengMDPI AGApplied Sciences2076-34172023-10-0113201128910.3390/app132011289Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory PlanningYunfei Li0Qiuhao Wang1Qian Liu2School of Biomedical Engineering, Hainan University, Haikou 570228, ChinaSchool of Biomedical Engineering, Hainan University, Haikou 570228, ChinaSchool of Biomedical Engineering, Hainan University, Haikou 570228, ChinaKinematic 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 changes in continuum robots using the double quaternion rule can reduce computational complexity. However, existing dual quaternion methods are direct equational transformations of DH rules and do not give a complete modeling process. They usually require more interpretability when applying continuum robot kinematic modeling. This paper uses the dual quaternion method to establish a kinematic model of a continuum robot. It uses a two-section continuum robot model to compare the advantages of dual quaternion and traditional modeling methods. In addition, this paper proposes a five-polynomial interpolation algorithm based on the dual quaternion method for trajectory planning of continuum robots. This method accurately models spatial bending and torsional motions of singularity-free continuum robots.https://www.mdpi.com/2076-3417/13/20/11289Denavit–Hartenbergcontinuum robotdual quaternion Jacobian matrixtrajectory planning |
| spellingShingle | Yunfei Li Qiuhao Wang Qian Liu Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning Applied Sciences Denavit–Hartenberg continuum robot dual quaternion Jacobian matrix trajectory planning |
| title | Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning |
| title_full | Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning |
| title_fullStr | Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning |
| title_full_unstemmed | Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning |
| title_short | Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning |
| title_sort | developing a static kinematic model for continuum robots using dual quaternions for efficient attitude and trajectory planning |
| topic | Denavit–Hartenberg continuum robot dual quaternion Jacobian matrix trajectory planning |
| url | https://www.mdpi.com/2076-3417/13/20/11289 |
| work_keys_str_mv | AT yunfeili developingastatickinematicmodelforcontinuumrobotsusingdualquaternionsforefficientattitudeandtrajectoryplanning AT qiuhaowang developingastatickinematicmodelforcontinuumrobotsusingdualquaternionsforefficientattitudeandtrajectoryplanning AT qianliu developingastatickinematicmodelforcontinuumrobotsusingdualquaternionsforefficientattitudeandtrajectoryplanning |