DocumentCode :
716352
Title :
Dual Quaternion based modal kinematics for multisection continuum arms
Author :
Godage, Isuru S. ; Walker, Ian D.
Author_Institution :
Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA
fYear :
2015
fDate :
26-30 May 2015
Firstpage :
1416
Lastpage :
1422
Abstract :
This paper presents general modal dual Quaternion (DQ) kinematics for multisection continuum arms. DQ´s produce higher accuracy than homogeneous transformation matrices (HTM) when transformed to modal shape functions (MSF) of similar order and are numerically stable. Thus, the model is compact, more accurate and computationally efficient than the modal kinematics proposed by the author based on HTM´s. Also, DQ kinematics does not suffer from singularity related limitations of Euler angle based inverse orientation kinematics. Recursive schemes for deriving DQ´s and DQ Jacobians are also presented and can be extended arbitrarily. Both modal HTM and modal DQ kinematics are then applied to solve illustrative spatial inverse position and orientation tracking problems. Based on the results, this paper quantitatively compares both methods and highlights the advantages of modal DQ kinematics. The proposed DQ kinematics are easily extensible to variable length multisection continuum arm with general actuator configurations.
Keywords :
Jacobian matrices; robot kinematics; DQ Jacobians; Euler angle based inverse orientation kinematics; homogeneous transformation matrices; modal dual quaternion kinematics; modal shape functions; multisection continuum arms; Accuracy; Actuators; Jacobian matrices; Kinematics; Prototypes; Quaternions; Shape;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
Type :
conf
DOI :
10.1109/ICRA.2015.7139375
Filename :
7139375
Link To Document :
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