Análisis cinemático utilizando cuaterniones duales

Rdolfo Vergara-Hernández; Mario Alberto Magaña-Méndez; Ramos Fernández Ramos-Fernández; Tonatiuh Hernández-Cortés

doi:10.29057/icbi.v10i20.9297

Rdolfo Vergara-Hernández Universidad Politécnica de Pachuca https://orcid.org/0000-0002-4654-4826
Mario Alberto Magaña-Méndez Universidad Politécnica de Pachuca https://orcid.org/0000-0002-3834-7486
Ramos Fernández Ramos-Fernández Universidad Politécnica de Pachuca https://orcid.org/0000-0002-9997-6550
Tonatiuh Hernández-Cortés Universidad Politécnica de Pachuca https://orcid.org/0000-0002-1966-2755

DOI: https://doi.org/10.29057/icbi.v10i20.9297

Keywords: Forward kinematics, Inverse kinematics, Dual quaternions, Damped least squares Jacobian

Abstract

This paper introduces a methodology for the solution of forward and inverse kinematics problems using dual quaternions and the damped least squares Jacobian method. The solution of the forward kinematics problem is given by composition of dual quaternions that represent the position and orientation of the joints. The inverse kinematics problem is nonlinear, so it is approached using the damped least squares Jacobian method. This iterative method allows to obtain a numerical solution for the orientations of the joints of the kinematic chain that places the end effector in a desired position and orientation. A three degrees of freedom kinematic chain is used to show the performance of the proposed methodology.

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