Solution of an inverse kinematics problem using dual quaternions

DOI10.34768/AMCS-2020-0027MaRDI QIDQ2023643zbMATH OpenOpenAlexFDO

Authors Lei Chen, Jikun Wang, Weimin Ge, Teresa Zielinska

Publication date 3 May 2021

Published in International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://content.sciendo.com/view/journals/amcs/30/2/article-p351.xml

zbMATH Keywords

simulationkinematicsroboticsdual quaternionsscrew theory

Mathematics Subject Classification ID

Quaternion and other division algebras: arithmetic, zeta functions (11R52) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Dual-quaternion-based adaptive motion tracking of spacecraft with reduced control effort
• Hybrid kinematic control for rigid body pose stabilization using dual quaternions

Cited in

(10)

• A Lie symmetry approach for the solution of the inverse kinematics problem
• Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators, for example Stanford robot arm. I
• Models for three new screw-based IK sub-problems using geometric descriptions and their applications
• scientific article; zbMATH DE number 1399895 (Why is no real title available?)
• Inverse kinematics solutions using conformal geometric algebra
• Iterative inverse kinematics for robot manipulators using quaternion algebra and conformal geometric algebra
• scientific article; zbMATH DE number 3940774 (Why is no real title available?)
• Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators for example Stanford robot arm. II.
• Dual quaternions for the kinematic description of a fish-like propulsion system
• Solving the inverse kinematics problem via the principle of self-support

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