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A new method of applying differential kinematics through dual quaternions

Published online by Cambridge University Press:  24 November 2015

Andre Schneider de Oliveira ,
Edson Roberto De Pieri  and
Ubirajara Franco Moreno
Andre Schneider de Oliveira*
Affiliation:
Department of Informatics, Federal University of Technology — Parana, Curitiba, PR, Brazil
Edson Roberto De Pieri
Affiliation:
Department of Automation and Systems, Federal University of Santa Catarina, Florianopolis, SC, Brazil. E-mails: edson@das.ufsc.br, moreno@das.ufsc.br
Ubirajara Franco Moreno
Affiliation:
Department of Automation and Systems, Federal University of Santa Catarina, Florianopolis, SC, Brazil. E-mails: edson@das.ufsc.br, moreno@das.ufsc.br
*
*Corresponding author. E-mail: andreoliveira@utfpr.edu.br, edson.pieri@ufsc.br, moreno@das.ufsc.br
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Summary

Differential kinematics is a traditional approach to linearize the mapping between the workspace and joint space. However, a Jacobian matrix cannot be inverted directly in redundant systems or in configurations where kinematic singularities occur. This work presents a novel approach to the solution of differential kinematics through the use of dual quaternions. The main advantage of this approach is to reduce “drift” error in differential kinematics and to ignore the kinematic singularities. An analytical dual-quaternionic Jacobian is defined, which allows for the application of this approach in any robotic system.

Keywords

Differential kinematicsJacobianDual quaternionsSingularities

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 4 , April 2017 , pp. 907 - 921
Copyright
Copyright © Cambridge University Press 2015 

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