ANALYSIS OF INVERSE KINEMATICS ON 6R SERIAL ROBOT THROUGH DOUBLE QUATERNIONS

摘要

This paper presented a new analytical method to study the Inverse Kinematics Analysis of 6R Serial Robot. First, by using the transformation relationship between dual quaternion and double quaternions, the robot kinematics equations are constructed in the form of double quaternions replace the coordinate transformation matrix which in the D-H parameter method is expressed by dual quaternion. Then, variables are separated from the kinematics equations and the linear elimination and Dixon resultant elimination were used to obtain the analytic expressions of the nonlinear equations. Finally, by example of PUMA560 robot validation, the double quaternions method is proved to be feasible, it reduces the difficulty in solving the analytic solutions, and increases the efficiency of the calculation.