The Kinematics of a Puma Robot using Dual Quaternions

The Kinematics of a Puma Robot using Dual Quaternions

Mahmoud Gouasmi

Contact

Belkacem Gouasmi

Contact

Mohamed Ouali

Contact

University of Blida

The Kinematics of a Puma Robot using Dual Quaternions

Article Fingerprint

ReserarchID

6X7YI

The Kinematics of a Puma Robot using Dual Quaternions Banner

AI TAKEAWAY

Connecting with the Eternal Ground

References

31 Cites in Article

Reference Format

William Hamilton (1846). XXII. <i>On quaternions; or on a new system of imaginaries in algebra</i>.
J Mcdonald (2010). Teaching Quaternions is not Complex.
Jck Chou,M Kamel (1988). Quaternions approach to solve the kinematic equation of rotation, of a sensor mounted rob. manip.
Mahmoud Gouasmi,Belkacem Gouasmi,Mohammed Ben-Ahmed- Dahou (2012). Dual Quaternions Robotics: A) The 3R Planar Manipulator.
W Clifford (1871). Preliminary Sketch of Biquaternions.
Alba Perez,J Mccarthy (2003). Dual Quaternion Synthesis of Constrained Robotic Systems.
A Perez,J Mccarthy (2003). Dual Qua. Synth. of Constr. Rob. Syst.
Ladislav Kavan,Steven Collins,Jiří Žára,Carol O'sullivan (2008). Geometric skinning with approximate dual quaternion blending.
F Ivo,H Ivo Spher. skin. with dual quat and Q.Tangents.
J Selig (2011). Rational Interpolation of Rigid-Body Motions.
A Vasilakis,I Fudos (2009). SKELETON-BASED RIGID SKINNING FOR CHARACTER ANIMATION.
Y Kuang,A Mao,G Li,Y Xiong (2011). A strategy of real-time animation of clothed body movement.
H Pham,V Perdereau,B Adorno,P Fraisse (2010). Position and orientation control of robot manipulators using dual quaternion feedback.
Malte Schilling (2011). Universally manipulable body models—dual quaternion representations in layered and dynamic MMCs.
Q Ge,Amitabh Varshney,Jai Menon,Chu-Fei Chang (1998). Double Quaternions for Motion Interpolation.
Y Lin,H Wang,Y Chiang (2010). Estim. of real. orientation using dual.quat.
Alba Perez,J Mccarthy (2004). Dual Quaternion Synthesis of Constrained Robotic Systems.
G Van Den Bergen (2009). Chapter 3 Easy Numbers, Forbidden Numbers.
Singh Amanpreet,Ashish,Singla (2016). Kinematic Modeling of Robotic. Manip.
Michel Chasles (1830). Sur les propriétés générales des cônes du second degré.
Louis Poinsot Théorie nouvelle de la rotation des corps.
E Whittaker (1904). A Treatise on Analytical Dynamics of Particles and Rigid Bodies.
R Ball (1900). The Theory of Screws.
R Murray,Z Li,S Sastry (1993). A Math. Intro. to Robot Manip.
J Denavit,R Hartenberg (1955). A Kin. Not. for Low-pair Mech.s Based on Matr.
J Selig (1992). introductory robotics.
J Selig (2004). <b>GEOMETRIC FUNDAMENTALS OF ROBOTICS,</b> by J.M. Selig, second edition, Springer, 2005, xv+398 pp., index, ISBN 0-387-20874-7, 131 references (Hb. Euro 59.95).
J Selig (null). Lie Groups and Lie Algebras in Robotics.
A Yang,F Freudenstein (1964). App. of Dual-Num.Quat. Alg. to the Ana of Spa. Mec.
D Bottema,B Roth,G Veldkamp (1979). Theoretical Kinematics.
J Mccarthy (1990). Introduction to Theoretical Kinematics.

Download References

Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

Data Availability

Not applicable for this article.

How to Cite This Article

Mahmoud Gouasmi. 2020. \u201cThe Kinematics of a Puma Robot using Dual Quaternions\u201d. Global Journal of Research in Engineering - H: Robotics & Nano-Tec GJRE-H Volume 20 (GJRE Volume 20 Issue H1).

More Citation Formats

Select Citation Style:

Download Citation

GJRE Volume 20 Issue H1

Explore Journals Explore Volume Read This Issue

Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

Not Found

Classification

GJRE-H Classification FOR Code: 29030p

Submission ReceivedDecember 15, 2019
Peer Review Double Blind
Handling Editor
Accepted January 2, 2020
Published January 15, 2020

Version of record

v1.2

Issue date

September 11, 2020

Language

Experiance in AR

Explore published articles in an immersive Augmented Reality environment. Our platform converts research papers into interactive 3D books, allowing readers to view and interact with content using AR and VR compatible devices.

View in VR

Read in 3D

Your published article is automatically converted into a realistic 3D book. Flip through pages and read research papers in a more engaging and interactive format.

View in 3D

Article Matrices

Total Views: 2342

Total Downloads: 1230

2026 Trends

Our website is actively being updated, and changes may occur frequently. Please clear your browser cache if needed. For feedback or error reporting, please email [email protected]