QUATERNION-BASED APPROACH FOR SOLVING THE DIRECT KINEMATICS OF A MODULAR HYPER REDUNDANT ROBOT

被引：0
|
作者：
Lapusan, Ciprian [1 ]
Hancu, Olimpiu [1 ]
Rad, Ciprian [1 ]
机构：
[1] Tech Univ Cluj Napoca, Dep Mechatron & Machine Dynam, Cluj Napoca, Romania
来源：
ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING | 2020年 / 63卷 / 04期
关键词：
high dexterity robot; quaternion; IMU sensor;
D O I：
暂无
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
The paper presents a new approach for solving the direct kinematics of a modular high dexterity robot by integrating the quaternions of the mobile platforms in the calculation algorithm. The information related to the mobile platforms quaternions are obtained from dedicated IMU sensors. These data are then used to determine the position and orientation of all mobile platforms and provide the necessary data for path planning and robot control algorithms. The developed method was tested using Matlab for a 10 DOF modular hyper redundant robot. The obtained numerical results validated the proposed approach.
引用
收藏
页码：363 / 366
页数：4
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