Abstract
AbstractThe inverse kinematics of 6-DOF manipulator is one of the main concerns and difficult problem in robotics. This dissertation presents a new method for the inverse kinematics of 6-DOF manipulator based on dual quaternion which uses dual quaternion to respect both rotation and translation in a single transformation vector. So all the revolute joints of 6-DOF manipulator can be denoted by dual quaternion. The simulation was provided to verify the feasibility and precision of the proposed new method.Keywords6-DOFseries manipulatorinverse kinematicdual quaternion
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