Kinematic screws and dual quaternion based motion controllers

Dual Quaternion

As we know, quaternions are very efficient for representing rotations with clear geometric meaning (rotation axis and angle) and only one redundancy. Unfortunately, they do not handle translations, which meanwhile can be made multiplicative along with rotations via the use of homogeneous coordinates. Despite also being 4-tuples, homogeneous coordinates are algebraically incompatible with quater...

Quaternion Based Kinematic Analysis for Industrial Robot Manipulators

ABSTRACT Formulating the suitable mathematical models and deriving the efficient algorithms for a robot kinematics mechanism are very crucial for analyzing the behavior of industrial robot manipulators. Direct kinematics that determines the Cartesian position and orientation of the end-effector for the specified values of joint parameters is generally performed using homogenous transforms. In t...

Quaternion-Based Kinematic Control of Redundant Spacecraft/Manipulator Systems

This paper addresses kinematic control of a redundant space manipulator mounted on a freeoating spacecraft. Redundancy of the system with respect to the number of task variables for spacecraft attitude and manipulator end-e ector pose is considered. Also, the problem of both spacecraft attitude and end-e ector orientation representation is tackled. A nonminimal singularity-free representation o...

Pose and Motion Estimation Using Dual quaternion-based Extended Kalman Filtering

Motion generators in MRROC++ based robot controllers

This paper presents the method of generating effector motions in MRROC++ (Multi-Robot Research-Oriented Controller) based systems. MRROC++ is a C++ library of objects and processes that can be assembled into a robot controller executing a user defined task. The presented formal approach to motion generation is general in nature and not only can it be used as a basis for the implementation of an...