FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION
Abstract
Forward kinematics is fundamental to robot design, control, and simulation. Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot. This paper presents a robot forward kinematics algorithm in dual quaternion space. The presented method uses Denavit-Hartenberg (DH) convention for uniform definition of successive rotational and translational transformations in joints along the robot’s kinematic chain. This research aims to utilize the advantages of dual quaternions and DH convection for forward kinematics computation and make the algorithm, which is compact, intuitive, numerically robust, and computationally efficient as it uses the minimal number of parameters required for the computation, suitable for implementation in ROS and similar software. The algorithm is verified on the 6DoF industrial robot RL15, with the symbolic equations and numerical simulation presented.
Keywords:
Forward kinematics / kinematic modelling / DH convention / coordinate frame transformations / quaternions / dual quaternions / roboticsSource:
Applied Engineering Letters, 2023, 8, 2, 52-59Publisher:
- Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center”
Funding / projects:
- "info:eu-repo/grantAgreement/MESTD/inst-2020/200105/RS//" (RS-MESTD-inst-2020-200105)
- "info:eu-repo/grantAgreement/MESTD/inst-2020/200066/RS//" (RS-MESTD-inst-2020-200066)
Collections
Institution/Community
Mašinski fakultetTY - JOUR AU - Zivković, Nikola AU - Vidaković, Jelena AU - Lazarević, Mihailo PY - 2023 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6978 AB - Forward kinematics is fundamental to robot design, control, and simulation. Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot. This paper presents a robot forward kinematics algorithm in dual quaternion space. The presented method uses Denavit-Hartenberg (DH) convention for uniform definition of successive rotational and translational transformations in joints along the robot’s kinematic chain. This research aims to utilize the advantages of dual quaternions and DH convection for forward kinematics computation and make the algorithm, which is compact, intuitive, numerically robust, and computationally efficient as it uses the minimal number of parameters required for the computation, suitable for implementation in ROS and similar software. The algorithm is verified on the 6DoF industrial robot RL15, with the symbolic equations and numerical simulation presented. PB - Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center” T2 - Applied Engineering Letters T1 - FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION EP - 59 IS - 2 SP - 52 VL - 8 DO - 10.18485/aeletters.2023.8.2.2 ER -
@article{ author = "Zivković, Nikola and Vidaković, Jelena and Lazarević, Mihailo", year = "2023", abstract = "Forward kinematics is fundamental to robot design, control, and simulation. Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot. This paper presents a robot forward kinematics algorithm in dual quaternion space. The presented method uses Denavit-Hartenberg (DH) convention for uniform definition of successive rotational and translational transformations in joints along the robot’s kinematic chain. This research aims to utilize the advantages of dual quaternions and DH convection for forward kinematics computation and make the algorithm, which is compact, intuitive, numerically robust, and computationally efficient as it uses the minimal number of parameters required for the computation, suitable for implementation in ROS and similar software. The algorithm is verified on the 6DoF industrial robot RL15, with the symbolic equations and numerical simulation presented.", publisher = "Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center”", journal = "Applied Engineering Letters", title = "FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION", pages = "59-52", number = "2", volume = "8", doi = "10.18485/aeletters.2023.8.2.2" }
Zivković, N., Vidaković, J.,& Lazarević, M.. (2023). FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION. in Applied Engineering Letters Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center”., 8(2), 52-59. https://doi.org/10.18485/aeletters.2023.8.2.2
Zivković N, Vidaković J, Lazarević M. FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION. in Applied Engineering Letters. 2023;8(2):52-59. doi:10.18485/aeletters.2023.8.2.2 .
Zivković, Nikola, Vidaković, Jelena, Lazarević, Mihailo, "FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION" in Applied Engineering Letters, 8, no. 2 (2023):52-59, https://doi.org/10.18485/aeletters.2023.8.2.2 . .