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Izv. Saratov Univ. Math. Mech. Inform., 2013, Volume 13, Issue 4(1), Pages 82–89 (Mi isu452)  

This article is cited in 1 scientific paper (total in 1 paper)

Mechanics

Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators, for example Stanford robot arm. I

E. I. Lomovtseva, Yu. N. Chelnokov

Saratov State University, Russia, 410012, Saratov, Astrahanskaya st., 83

Abstract: The methology of solving the direct kinematics problem of manipulators by using screw mechanics methods (dual direction cosine matrices, Clifford biquaternions) is shown on the example of Stanford robot arm. Kinematic equations of motion of the manipulator are found. These equations will be used for solving the inverce kinematics problem with the help of biquaternion theory of kinematic control.

Key words: robot-manipulator, direct kinematics problem, dual direction cosine matrix, biquaternion, quaternion, kinematic equations.

DOI: https://doi.org/10.18500/1816-9791-2013-13-4-82-89

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Bibliographic databases:

UDC: 531.38+681.5

Citation: E. I. Lomovtseva, Yu. N. Chelnokov, “Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators, for example Stanford robot arm. I”, Izv. Saratov Univ. Math. Mech. Inform., 13:4(1) (2013), 82–89

Citation in format AMSBIB
\Bibitem{LomChe13}
\by E.~I.~Lomovtseva, Yu.~N.~Chelnokov
\paper Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators, for example Stanford robot arm.~I
\jour Izv. Saratov Univ. Math. Mech. Inform.
\yr 2013
\vol 13
\issue 4(1)
\pages 82--89
\mathnet{http://mi.mathnet.ru/isu452}
\crossref{https://doi.org/10.18500/1816-9791-2013-13-4-82-89}


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    This publication is cited in the following articles:
    1. E. I. Lomovtseva, Yu. N. Chelnokov, “Dualnye matrichnye i bikvaternionnye metody resheniya pryamoi i obratnoi zadach kinematiki robotov-manipulyatorov na primere stenfordskogo manipulyatora. II”, Izv. Sarat. un-ta. Nov. ser. Ser. Matematika. Mekhanika. Informatika, 14:1 (2014), 88–95  mathnet  crossref  elib
  • Известия Саратовского университета. Новая серия. Серия Математика. Механика. Информатика
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