The Kinematics of a Puma Robot using Dual Quaternions
This chapter presents mainly, on the light of both main concepts; The first being the screw motion or/ and dual quaternions kinematics while the second concerns the classical ‘Denavit and Hartenberg parameters’ method, the direct kinematics of a Puma 560 robot. Kinematics analysis studies the relative motions, such as, first of all, the displacement in space of the end effector of a given robot, and thus its velocity and acceleration, associated with the links of the given robot that is usually designed so that it can position its end-effector with a three degree-of-freedom of translation and three degree-of-freedom of orientation within its workspace. First of all, examples of basic solid movements such as rotations , translations , their combinations and general screw motions are studied using both (4×4 ) rigid body transformations and dual quaternions so that the reader could compare and note the similarity of the results obtained using one or the other method
