|
|
|
|
|
|
 |
|
|
The Research of Position Inverse Solution for 6-DOF Manipulator Based on Quaternion Algorithm
|
|
|
|
|
|
|
|
|
|
|
|
| Applied Mechanics and Materials |
|
|
|
|
|
|
For the problem of 6-DOF serial manipulator position inverse solution, the paper proposed a new method for 6-DOF serial manipulator position inverse solution by introducing the quaternion algorithm. The relative pose transformation expression in quaternion coordinate system is proposed based on the transformation relationship between dual quaternion and double quaternion, based on which the closed equation of 6-DOF serial manipulator position inverse solution times in the form of double quaternion is established. For the obtained four position constraint equations, the Dixon resultant is constructed and a equation of 16 yuan is derived which is neither with increases root nor with the leak root. And this point is proved by the Mathematica practical calculations. The process of the method is simple. And it can not only avoid extraneous roots, but also overcome some singular position caused by the correlation equation in the process of trajectory planning, and further, the real-time performance of control process is improved.
|
|
|
|
|
|
|
|
|
|
|
|
Quaternion, 6-DOF serial manipulator, Position inverse solution, Dixon resultant
|
|
|
|
|
|
|
| | | | | |
|
For the newest resources, visit Wolfram Repositories and Archives »
