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