A Comparative Study Between the Successive Screw Displacement and Quaternion Based Methods Used in Forward Kinematics of Serial Robot Manipulator
Journal Title: International Journal of Mechanical and Production Engineering Research and Development (IJMPERD ) - Year 2017, Vol 7, Issue 6
Abstract
In this article, we compare two forward kinematic formulation procedures for the 6DoF serial robot manipulator. Both formulation procedures are based on the screw theory. Screw theory based methods are alternative to the classical methods such as D-H (Denavit-Hartenberg) based conventions. The following two methods, successive displacement method and quaternion based method have been considered for comparison in this article. Compared to the successive screw displacement method, quaternion method is computationally efficient and compact. Kinematic modelling of both methods are presented with case studies and compared, concerning forward kinematics of the serial robot manipulator.
Authors and Affiliations
Bharath LV, Himanth M
Keywords
Related Articles
- EP ID EP254603
- DOI -
- Views 89
- Downloads 0
Analytical Study of Sio2-Water Based Nano Fluid Flow in A Rotating Frame With Thermo Phoresis
The problem of unsteady MHD free convection flow of SIO2- H2O nano-fluid through a porous medium bounded by a vertical semi-infinite permeable flat plate with constant heat source and convective boundary condition in a r...
Surface Deformation: A Software and Hardware Validation & Analysis
The present day techniques and machinery used in automobile industry to assess the useful lifespan of an object are high end, heavy and expertise oriented. Away from these conventional and not so user friendly approaches...
EXPERIMENTAL INVESTIGATION ON STRAIGHT THROUGH SOLAR SALT WATER DESALINATION SYSTEM ANALYSIS IN DIFFERENT PCM MATERIALS
The research maximizes the level of use of green energy as a source. Recently, usage of electrical energy is replaced by solar energy at various equipments. Solar desalination method has been evolving in various countrie...
The Hydrodynamics Performance of Aquaculture Fishing Vessel in Variation of Deadrise Angle and Sponson
Tuna is one of the most potential commodities for export activities in Indonesia. To increase the number of tuna fish exports, fish farming is a more recommended method than fishing at sea. The vessel can be used for fis...
Design and Analysis of Pressure Vessel
The main purpose of the project is to design a pressure vessel according to ASME standards and do thermal analysis on the pressure vessel made up of different types of materials by varying the shell thickness of the vess...