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[摘 要]為了减小机器人运动学计算过程的计算量，本文创新性采用双四元数算法，该四元数既能描述旋转姿态信息，又能对位置信息进行描述。并建立了三自由度串联机构的四元数模型，对其正向及逆向运动学计算过程进行了详细推导。最后使用Matlab，基于该算法对三自由度机构特定末端轨迹进行了仿真实验，证明了该算法的有效性。
[关键词]运动学；双四元数；机器人
中图分类号：TU151 文献标识码：A 文章编号：1009-914X（2017）37-0356-03
One Dual-Quaternion Kinematic Analysis Method for Robot
Shufang Gao1 Wenguang Li1
[Abstract]In order to reduce the computational complexity of the forward and backward kinematic process of robot， this paper innovatively adopts the dual-quaternion algorithm， which can describe both the rotation attitude information and the pose transfer information. One dual-quaternion model for three degree of freedom series manipulator is established， and the forward and backward kinematics analysis process is deduced in detail. Finally， the simulation experiments of three DOF manipulator with specific end trajectory are carried out utilise the matlab， the effectiveness of the algorithm is proved.
[Key words]Kinematic ， Dual-Quaternion， Robot
[关键词]运动学；双四元数；机器人
中图分类号：TU151 文献标识码：A 文章编号：1009-914X（2017）37-0356-03
One Dual-Quaternion Kinematic Analysis Method for Robot
Shufang Gao1 Wenguang Li1
[Abstract]In order to reduce the computational complexity of the forward and backward kinematic process of robot， this paper innovatively adopts the dual-quaternion algorithm， which can describe both the rotation attitude information and the pose transfer information. One dual-quaternion model for three degree of freedom series manipulator is established， and the forward and backward kinematics analysis process is deduced in detail. Finally， the simulation experiments of three DOF manipulator with specific end trajectory are carried out utilise the matlab， the effectiveness of the algorithm is proved.
[Key words]Kinematic ， Dual-Quaternion， Robot