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《Machinery & Electronics》 2010-12
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Inverse Kinematics Analysis of Robot Based on Double Quaternion

SONG Jing,FANG Kang-ling(College of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)  
In order to solving the inverse kinematics problem of robot,a basic model was created based on double quaternion.It is the homogeneous transformation matrix that translated to the double quaternion form,and on this basis,the robot kinematics equation with double quaternion form was established.And the solutions are obtained by the elimination of linear.Finally,experiments on SCARA robot showed that this algorithm is simple and credible.
【CateGory Index】: TP242
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