Quaternion-Based Algorithm for Direct Kinematic Model of a Kawasaki FS10E Articulated Arm Robot


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This article follows a detailed description of development and validation for the direct kinematic model of six degrees of freedom articulated arm robot - Kawasaki FS10E model. The development of the kinematic model is based on widely used Denavit-Hartenberg notation, but, after the initial parameter identification, the mathematical algorithm itself follows an approach that uses the quaternion number system, taking advantage of their efficiency in describing spatial rotation - providing a convenient mathematical notation for expressing rotations and orientations of objects in three-dimensional space. The proposed algorithm concludes with two quaternion-based relations that express both the position of robot tool center point (TCP) position and end-effector orientation with respect to robot base coordinate system using Denavit-Hartenberg parameters and joint values as input data. Furthermore, the developed direct kinematic model was validated using the programming and offline simulation software Kawasaki PC Roset.



Edited by:

Iulian Tabara, Luige Vladareanu, Cristian Doicin, Nicolae Ionescu, Tom Savu, Adrian Bruja, Constantin Ocnarescu and Constantin Opran






S. Popa et al., "Quaternion-Based Algorithm for Direct Kinematic Model of a Kawasaki FS10E Articulated Arm Robot", Applied Mechanics and Materials, Vol. 762, pp. 249-254, 2015

Online since:

May 2015




* - Corresponding Author

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DOI: 10.1109/cdc.2006.377155

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