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.

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Periodical:

Edited by:

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

Pages:

249-254

Citation:

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

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$38.00

* - Corresponding Author

[1] S. POPA, Researches on virtual user interfaces development for robotics remote operation, PhD Thesis, Politehnica University of Bucharest, MMS Department, (2012).

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[3] B. SICILIANO, O. KHATIB, Handbook of Robotics, Springer, ISBN: 978-3-540-23957-4, Stanford, (2008).

[4] R. CAMPA, K. CAMARILLO, L. ARIAS, Kinematic Modeling and Control of Robot Manipulators via Unit Quaternions: Application to a Spherical Wrist, 45th IEEE Conference on Decision and Control, pag. 6474 - 6479, San Diego, CA, USA, ISBN 1-4244-0171-2, March (2006).

DOI: https://doi.org/10.1109/cdc.2006.377155

[5] J. J. CRAIG, Introduction to Robotics: Mechanics and Control (Third Edition), Pearson Education, USA, (2005).

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