A dual quaternion solution to the forward kinematics of a class of six-DOF parallel robots with full or reductant actuation

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• 作者：XiaoLong Yang ; ^{yang_xiaolong@nuaa.edu.cn} ; HongTao Wu ; Yao Li ; Bai Chen
• 关键词：Forward kinematics ; Dual quaternion ; Parallel robot ; 8-UPS ; 8-PUS
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：107
• 期：Complete
• 页码：27-36
• 全文大小：612 K
• 卷排序：107

文摘

A unit dual quaternion is introduced as the generalized coordinates of the six-DOF robotic system. An efficient algorithm is proposed to get the actual solution to the forward kinematic equations for real-time control. It is revealed that the algorithm is always valid in the singularity-free workspace of the robot in real- time control.