Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS
Apstrakt
This paper presents a method for the implementation of a robot forward kinematics algorithm that complies with the Denavit-Hartenberg (DH) convention in Robot Operating System (ROS). The integration of the algorithm in ROS is based on the representation of DH parameters in dual quaternion space. The main motivation for the presented research is to make use of ROS powerful visualization tools available in tasks that require robot forward kinematics calculation while keeping the principles of DH robot modeling convention. Implementation of the dual quaternion-based robot forward kinematics algorithm in ROS is demonstrated using a serial 6DoFs robot as an example.
Ključne reči:
ROS / robot / forward kinematics / dual quaternions / Denavit-HartenbergIzvor:
2022 11th Mediterranean Conference on Embedded Computing, MECO 2022, 2022Izdavač:
- Institute of Electrical and Electronics Engineers Inc.
Finansiranje / projekti:
- Ministarstvo nauke, tehnološkog razvoja i inovacija Republike Srbije, institucionalno finansiranje - 200105 (Univerzitet u Beogradu, Mašinski fakultet) (RS-MESTD-inst-2020-200105)
- Ministarstvo nauke, tehnološkog razvoja i inovacija Republike Srbije, institucionalno finansiranje - 200066 (Lola institut, Beograd) (RS-MESTD-inst-2020-200066)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Zivković, N. AU - Vidaković, Jelena AU - Mitrović, S. AU - Lazarević, Mihailo PY - 2022 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3832 AB - This paper presents a method for the implementation of a robot forward kinematics algorithm that complies with the Denavit-Hartenberg (DH) convention in Robot Operating System (ROS). The integration of the algorithm in ROS is based on the representation of DH parameters in dual quaternion space. The main motivation for the presented research is to make use of ROS powerful visualization tools available in tasks that require robot forward kinematics calculation while keeping the principles of DH robot modeling convention. Implementation of the dual quaternion-based robot forward kinematics algorithm in ROS is demonstrated using a serial 6DoFs robot as an example. PB - Institute of Electrical and Electronics Engineers Inc. C3 - 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022 T1 - Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS DO - 10.1109/MECO55406.2022.9797160 ER -
@conference{ author = "Zivković, N. and Vidaković, Jelena and Mitrović, S. and Lazarević, Mihailo", year = "2022", abstract = "This paper presents a method for the implementation of a robot forward kinematics algorithm that complies with the Denavit-Hartenberg (DH) convention in Robot Operating System (ROS). The integration of the algorithm in ROS is based on the representation of DH parameters in dual quaternion space. The main motivation for the presented research is to make use of ROS powerful visualization tools available in tasks that require robot forward kinematics calculation while keeping the principles of DH robot modeling convention. Implementation of the dual quaternion-based robot forward kinematics algorithm in ROS is demonstrated using a serial 6DoFs robot as an example.", publisher = "Institute of Electrical and Electronics Engineers Inc.", journal = "2022 11th Mediterranean Conference on Embedded Computing, MECO 2022", title = "Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS", doi = "10.1109/MECO55406.2022.9797160" }
Zivković, N., Vidaković, J., Mitrović, S.,& Lazarević, M.. (2022). Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS. in 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022 Institute of Electrical and Electronics Engineers Inc... https://doi.org/10.1109/MECO55406.2022.9797160
Zivković N, Vidaković J, Mitrović S, Lazarević M. Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS. in 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022. 2022;. doi:10.1109/MECO55406.2022.9797160 .
Zivković, N., Vidaković, Jelena, Mitrović, S., Lazarević, Mihailo, "Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS" in 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022 (2022), https://doi.org/10.1109/MECO55406.2022.9797160 . .