The Research of Position Inverse Solution for 6-DOF Manipulator Based on Quaternion Algorithm

Abstract:

For the problem of 6-DOF serial manipulator position inverse solution, the paper proposed a new method for 6-DOF serial manipulator position inverse solution by introducing the quaternion algorithm. The relative pose transformation expression in quaternion coordinate system is proposed based on the transformation relationship between dual quaternion and double quaternion, based on which the closed equation of 6-DOF serial manipulator position inverse solution times in the form of double quaternion is established. For the obtained four position constraint equations, the Dixon resultant is constructed and a equation of 16 yuan is derived which is neither with increases root nor with the leak root. And this point is proved by the Mathematica practical calculations. The process of the method is simple. And it can not only avoid extraneous roots, but also overcome some singular position caused by the correlation equation in the process of trajectory planning, and further, the real-time performance of control process is improved.

• Periodical: Applied Mechanics and Materials (Volumes 336-338)
• Pages: 1109-1113
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.336-338.1109
• Online since: July 2013
• Authors: Zhi Chao Zhao, Sheng Qi Sun, Xue Bin Li
• Keywords: 6-DOF Serial Manipulator, Dixon Resultant, Position Inverse Solution, Quaternion

References

[1] W.Duffy Q.Z. Liao,X.Sh.Liu,Ch.G.Liang,in: Organization and mechanical analysis, edited by Beijing university of posts and telecommunications publishing, Beijing, China (1989),in press.

[2] Q.Zh.Liao,Ch.G.Liang and Q.X. Zhang: submitted to Journal of Mechanical Engineering (1989). (In Chinese)

[3] Shuguang Qiao: New algorithm for inverse kinematics of 6-DOF serial manipulator. Beijing University of Posts and Telecommunications (2008).(In Chinese)

[4] Yonglun Cheng,Shiqiang Zhu: submitted to Robot (2008). (In Chinese)

[5] Yangqiu Yu,Pin Wang,Qizheng Liao: submitted to China Mechanical Engineering (2003).(In Chinese)

[6] Pin Wang,Qizheng Liao,Shimin Wei: submitted to Journal of Beijing University of Aeronautics and Astronautics(2006).(In Chinese)