Abstract
In this paper, we compare three inverse kinematic formulation methods for the serial industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, the first one is based on quaternion algebra, the second one is based on dual-quaternions, and the last one that is called exponential mapping method is based on matrix algebra. Compared with the matrix algebra, quaternion algebra based solutions are more computationally efficient and they need less storage area. The method which is based on dual-quaternion gives the most compact and computationally efficient solution. Paden-Kahan sub-problems are used to derive inverse kinematic solutions. 6-DOF industrial robot manipulator's forward and inverse kinematic equations are derived using these formulation methods. Simulation and experimental results are given.
Highlights
In industrial applications of robotic and automation systems, it is demanded that the robot manipulators track a desired trajectory precisely
We present a comparison study for the three inverse kinematic formulation methods which are all based on screw theory
Three formulation methods of the kinematic problem of serial robot manipulators have been compared in terms of computational efficiency and compactness
Summary
In industrial applications of robotic and automation systems, it is demanded that the robot manipulators track a desired trajectory precisely. This goal can be achieved by finding a map which transforms the desired trajectory into the motion of joints of the robot manipulators. It can be described as a mapping from Cartesian coordinate space to the joint space. Kinematic gives us this mapping without considering the forces or torques which cause the motion. Since the kinematic based solutions are easy to obtain and requires less number of computations compared with dynamical equations, they are frequently used in the industrial robot applications.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
