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Izv. Saratov Univ. Math. Mech. Inform., 2014, Volume 14, Issue 1, Pages 88–95 (Mi isu490)  

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. II

E. I. Lomovtseva, Yu. N. Chelnokov

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

Abstract: The methology of solving the inverce kinematics problem of manipulators by using biquaternion theory of kinematics control is shown on the example of Stanford robot arm. Solving of the inverce kinematics problem of Stanford robot arm is performed using the simplest control law. The analysis of numerical solution results is made. The efficacy of applying the theory of kinematics control for solving the inverce kinematics problem of manipulators is proved. Dual matrix and biquaternion methods of solving direct kinematics problem of manipulators were considered in [1].

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

DOI: https://doi.org/10.18500/1816-9791-2014-14-1-88-95

Full text: PDF file (259 kB)
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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. II”, Izv. Saratov Univ. Math. Mech. Inform., 14:1 (2014), 88–95

Citation in format AMSBIB
\Bibitem{LomChe14}
\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.~II
\jour Izv. Saratov Univ. Math. Mech. Inform.
\yr 2014
\vol 14
\issue 1
\pages 88--95
\mathnet{http://mi.mathnet.ru/isu490}
\crossref{https://doi.org/10.18500/1816-9791-2014-14-1-88-95}
\elib{https://elibrary.ru/item.asp?id=21510776}


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    This publication is cited in the following articles:
    1. Yu. N. Chelnokov, E. I. Nelaeva, “Bikvaternionnoe reshenie kinematicheskoi zadachi optimalnoi nelineinoi stabilizatsii proizvolnogo programmnogo dvizheniya svobodnogo tverdogo tela”, Izv. Sarat. un-ta. Nov. ser. Ser. Matematika. Mekhanika. Informatika, 16:2 (2016), 198–207  mathnet  crossref  elib
  • Известия Саратовского университета. Новая серия. Серия Математика. Механика. Информатика
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