倍四元数及其在串联机构运动分析中的应用  

Application of double quaternions in inverse solving of serial mechianisms

作　　者：乔曙光[1] 廖启征[1] 黄昔光[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机械设计与制造》2008年第2期36-38,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(NO.50775012)资助

摘　　要：首次引入倍四元数完成了一种串联机构逆运动学封闭解分析。基于对偶四元数与倍四元数之间的转换关系给出了倍四元数形式的坐标系之间相对位姿变换表达式,并在此基础上建立了倍四元数形式的串联机构运动学方程,进而得到逆解运动学封闭解析解。最后,以一种串联机构逆运动学分析为例进行求解验证。结果分析表明,方法过程简洁,求解效率高。Double quaternion is introduced firstly to the closed-form solutions of the inverse kinematics of a serial mechanisms. The rotation and translation of coordinate systems in double quaternions are given based on the transform between double quaternions and dual quaternion. The equations of the inverse kinematics are deduced into the linear equations accordingly and the closed-form solutions are obtained easily. By the presented method, the inverse kinematics of a serial mechanisms is given as an example. The...

关 键 词：倍四元数 串联机构 逆运动学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]