Desarrollo de una nueva solución compacta a la cinemática de manipuladores robóticos basada en cuaterniones duales

Abstract

This paper presents a new compact solution based on dual quaternions for the development of the kinematics of robotics manipulators. The development of a tool to able to observe clearly its correlation with the method the matrices of homogenous transformation derived of the parameters Denavit-Hartenberg. Tools set out to simplify the use of the dual quaternions for the obtaining of the kinematic model of mechanisms of open chain defining the rule of the applied chain these. Finally its application to a pair of cases of study acquires knowledge. © 2011 CEA.