Решение прямых и обратных задач кинематики роботов-манипуляторов с использованием дуальных матриц и бикватернионов на примере стэнфордского манипулятора. Часть 1

Abstract

Solution to the problems of direct kinematics with the help of dual cosine matrices and Klifford biquaternions is demonstrated on the example of Stanford robot arm. Derivation of the kinematics equations is performed. The obtained kinematics equations and the solution to the direct kinematics problem are used for solving the inverse kinematics problem. The new method of solving the inverse kinematics problem is based on biquaternion theory of kinematics control of free rigid body motion by using the feedback principal. Application of the method reduces solving. Cauchy problem for differential kinematic equations of a manipulator motion. Vectors of the angular and linear velocities contained in these equations are considered as controls. They are formed according to the feedback principal as certain functions of the generalized coordinates so that every chosen end effector position is asymptotically stable in the whole. In this case any particular solution to the differential kinematics equations will aspire in asymptotically stable way to the desired point in the space of the generalized coordinates corresponding to the target position of the end effector of a manipulator. As the result of solving of Cauchy problem for any given initial values of the generalized coordinates from their operational range the generalized coordinates, will finally take the values corresponding to the desired position of the end effector, so that the inverse kinematics problem will be solved. The advantages of the new method are the following: the method gives a unique solution (if there is such) for the chosen control law and given initial position; it ensures high accuracy solutions and high performance; but, above all, it is non-iterative. The paper extends and supplements the results presented in [1, 2].