A new formulation method for solving kinematic problems of multiarm robot systems using quaternion algebra in the screw theory framework

Authors

EMRE SARIYILDIZ
HAKAN TEMELTAŞ

DOI

10.3906/elk-1011-971

Abstract

We present a new formulation method to solve the kinematic problem of multiarm robot systems. Our major aims were to formulize the kinematic problem in a compact closed form and avoid singularity problems in the inverse kinematic solution. The new formulation method is based on screw theory and quaternion algebra. Screw theory is an effective way to establish a global description of a rigid body and avoids singularities due to the use of the local coordinates. The dual quaternion, the most compact and efficient dual operator to express screw displacement, was used as a screw motion operator to obtain the formulation in a compact closed form. Inverse kinematic solutions were obtained using Paden-Kahan subproblems. This new formulation method was implemented into the cooperative working of 2 St\"{a}ubli RX160 industrial robot-arm manipulators. Simulation and experimental results were derived.

Keywords

Cooperative working of multiarm robot systems, dual quaternion, industrial robot application, screw theory, singularity-free inverse kinematic

First Page

607

Last Page

628

Recommended Citation

SARIYILDIZ, EMRE and TEMELTAŞ, HAKAN (2012) "A new formulation method for solving kinematic problems of multiarm robot systems using quaternion algebra in the screw theory framework," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 20: No. 4, Article 13. https://doi.org/10.3906/elk-1011-971
Available at: https://journals.tubitak.gov.tr/elektrik/vol20/iss4/13