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Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS

dc.creatorZivković, N.
dc.creatorVidaković, Jelena
dc.creatorMitrović, S.
dc.creatorLazarević, Mihailo
dc.date.accessioned2022-09-19T19:36:27Z
dc.date.available2022-09-19T19:36:27Z
dc.date.issued2022
dc.identifier.urihttps://machinery.mas.bg.ac.rs/handle/123456789/3832
dc.description.abstractThis 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.en
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relationinfo:eu-repo/grantAgreement/MESTD/inst-2020/200105/RS//
dc.relationinfo:eu-repo/grantAgreement/MESTD/inst-2020/200066/RS//
dc.rightsrestrictedAccess
dc.source2022 11th Mediterranean Conference on Embedded Computing, MECO 2022
dc.subjectROSen
dc.subjectroboten
dc.subjectforward kinematicsen
dc.subjectdual quaternionsen
dc.subjectDenavit-Hartenbergen
dc.titleImplementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROSen
dc.typeconferenceObject
dc.rights.licenseARR
dc.citation.rankM33
dc.identifier.doi10.1109/MECO55406.2022.9797160
dc.identifier.scopus2-s2.0-85133974407
dc.type.versionpublishedVersion


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