TY - JOUR
T1 - Development of a new compact solution to the kinematics of robot manipulators based on dual quaternions
AU - Ramírez-Gordillo, Javier
AU - Merchán-Cruz, Emmanuel A.
AU - Lugo-González, Esther
AU - Rodríguez-Cañizo, Ricardo G.
AU - Ponce-Reynoso, Rodolfo
AU - Urriolagoitia-Sosa, G.
PY - 2011
Y1 - 2011
N2 - This paper presents a new compact solution based on dual quaternions for the development of the kinematics of robotics manipulators. The development of a tool to able to observe clearly its correlation with the method the matrices of homogenous transformation derived of the parameters Denavit-Hartenberg. Tools set out to simplify the use of the dual quaternions for the obtaining of the kinematic model of mechanisms of open chain defining the rule of the applied chain these. Finally its application to a pair of cases of study acquires knowledge.
AB - This paper presents a new compact solution based on dual quaternions for the development of the kinematics of robotics manipulators. The development of a tool to able to observe clearly its correlation with the method the matrices of homogenous transformation derived of the parameters Denavit-Hartenberg. Tools set out to simplify the use of the dual quaternions for the obtaining of the kinematic model of mechanisms of open chain defining the rule of the applied chain these. Finally its application to a pair of cases of study acquires knowledge.
KW - Compact Solution
KW - Dual Quaternions
KW - Kinematic Model
KW - Robot Manipulators
UR - http://www.scopus.com/inward/record.url?scp=80054958592&partnerID=8YFLogxK
U2 - 10.1016/j.riai.2011.09.012
DO - 10.1016/j.riai.2011.09.012
M3 - Artículo
SN - 1697-7912
VL - 8
SP - 334
EP - 344
JO - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial
JF - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial
IS - 4
ER -