منابع مشابه
Inverse Kinematics using Quaternions
In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection. The three methods are described in some detail. An analysis is performed where the three methods ar...
متن کامل3D kinematics using dual quaternions: theory and applications in neuroscience
In behavioral neuroscience, many experiments are developed in 1 or 2 spatial dimensions, but when scientists tackle problems in 3-dimensions (3D), they often face problems or new challenges. Results obtained for lower dimensions are not always extendable in 3D. In motor planning of eye, gaze or arm movements, or sensorimotor transformation problems, the 3D kinematics of external (stimuli) or in...
متن کاملHand-Eye Calibration Using Dual Quaternions
To relate measurements made by a sensor mounted on a mechanical link to the robot’s coordinate frame, we must first estimate the transformation between these two frames. Many algorithms have been proposed for this so-called hand-eye calibration, but they do not treat the relative position and orientation in a unified way. In this paper, we introduce the use of dual quaternions, which are the al...
متن کاملSimultaneous robot-world and hand-eye calibration using dual-quaternions and Kronecker product
Two solutions of the homogeneous matrix equation AX=ZB, that allows a simultaneous computation of the transformations from robot world to robot base and from robot tool to robot wrist coordinate frames, are proposed. The presented methods introduce the Kronecker product and dual quaternions to solve the rotations and translations problem, simultaneously, with no propagation error. The experimen...
متن کاملCurvature Identification in a Prismatic Joint of a Robot Using Gyroscopes Based Dual Quaternions Processing
Abstract. This paper shows a solution to measure the curvature of a rail-guide in which a robot manipulator moves. Such robot, denominated Roboturb, is destined to welding tasks in rotors of high power hydraulic turbines damaged by cavitation effect. This robot has as mainly characteristics the fact of presenting small load (total mass of 20kg), high mobility level due to its seven degrees of f...
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ژورنال
عنوان ژورنال: IAES International Journal of Robotics and Automation (IJRA)
سال: 2012
ISSN: 2089-4856
DOI: 10.11591/ijra.v1i1.275