Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS
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.
Keywords:
ROS / robot / forward kinematics / dual quaternions / Denavit-HartenbergSource:
2022 11th Mediterranean Conference on Embedded Computing, MECO 2022, 2022Publisher:
- Institute of Electrical and Electronics Engineers Inc.
Funding / projects:
- Ministry of Science, Technological Development and Innovation of the Republic of Serbia, institutional funding - 200105 (University of Belgrade, Faculty of Mechanical Engineering) (RS-MESTD-inst-2020-200105)
- Ministry of Science, Technological Development and Innovation of the Republic of Serbia, institutional funding - 200066 (Lola Institute, Belgrade) (RS-MESTD-inst-2020-200066)
Collections
Institution/Community
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 . .