Double Quaternions Inverse Kinematic of a ۶-DOF Serial Robot (PUMA۵۶۰)

The Inverse kinematic of puma۵۶۰, a ۶-dof serial robot,is derived through Double Quaternions (DQ) method inthis paper. It is shown that one can write the transfermatrices of the robot in the form of quaternions.Further, solving the inverse kinematic of the robot, thejoint's angels are computed for the end-effector positionand orientation. Double quaternions inverse kinematicsolution is shown to be quicker and more accurate thanordinary methods. Moreover, utilizing the quaternionsone can obtain ۲۴ different inverse kinematic solutionscompared with ۸ solutions in other methods.

کلیدواژه ها:

Inverse kinematics ، mobile manipulator ، quaternions ، double quaternions.