基于倍四元数的机器人逆运动学分析  

Inverse Kinematics Analysis of Robot Based on Double Quaternion

作　　者：宋婧[1] 方康玲[1] 

机构地区：[1]武汉科技大学信息科学与工程学院,湖北武汉430081

出　　处：《机械与电子》2010年第12期67-69,共3页Machinery & Electronics

摘　　要：采用倍四元数进行建模求解机器人逆运动学问题.将齐次变换矩阵转以倍四元数形式表示,建立了倍四元数形式的机器人运动学方程,再通过消元和运算得到机器人逆运动学的解.最后,以SCARA机器人为实例求解验证,证实该算法简单可行.In order to solving the inverse kinematics problem of robot,a basic model was created based on double quaternion.It is the homogeneous transformation matrix that translated to the double quaternion form,and on this basis,the robot kinematics equation with double quaternion form was established.And the solutions are obtained by the elimination of linear.Finally,experiments on SCARA robot showed that this algorithm is simple and credible.

关 键 词：倍四元数 SCARA机器人 逆运动学分析 

分 类 号：TH113[机械工程—机械设计及理论] TP24[自动化与计算机技术—检测技术与自动化装置]