Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra

2016 ◽  
Author(s):  
Mariana de Paula Assis Fonseca ◽  
Bruno Vilhena Adorno
Keyword(s):  
Humanoid Robot ◽  
Quaternion Algebra ◽  
Hierarchical Control ◽  
Whole Body ◽  
Dual Quaternion

scholarly journals A Method of Robot Base Frame Calibration by Using Dual Quaternion Algebra

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 74865-74873
Author(s):  
Gang Wang ◽  
Xiaoping Liu ◽  
Song Han
Keyword(s):  
Quaternion Algebra ◽  
Dual Quaternion

Kinematic calibration of serial robot using dual quaternions

2019 ◽  
Vol 46 (2) ◽  
pp. 247-258 ◽  
Author(s):  
Guozhi Li ◽  
Fuhai Zhang ◽  
Yili Fu ◽  
Shuguo Wang
Keyword(s):  
Kinematic Analysis ◽  
Quaternion Algebra ◽  
Error Model ◽  
Kinematic Calibration ◽  
Dual Quaternion ◽  
Robot Calibration ◽  
Geometrical Meaning ◽  
Content Type ◽  
Dual Quaternions ◽  
Serial Robot

Purpose The purpose of this paper is to propose an error model for serial robot kinematic calibration based on dual quaternions. Design/methodology/approach The dual quaternions are the combination of dual-number theory and quaternion algebra, which means that they can represent spatial transformation. The dual quaternions can represent the screw displacement in a compact and efficient way, so that they are used for the kinematic analysis of serial robot. The error model proposed in this paper is derived from the forward kinematic equations via using dual quaternion algebra. The full pose measurements are considered to apply the error model to the serial robot by using Leica Geosystems Absolute Tracker (AT960) and tracker machine control (T-MAC) probe. Findings Two kinematic-parameter identification algorithms are derived from the proposed error model based on dual quaternions, and they can be used for serial robot calibration. The error model uses Denavit–Hartenberg (DH) notation in the kinematic analysis, so that it gives the intuitive geometrical meaning of the kinematic parameters. The absolute tracker system can measure the position and orientation of the end-effector (EE) simultaneously via using T-MAC. Originality/value The error model formulated by dual quaternion algebra contains all the basic geometrical parameters of serial robot during the kinematic calibration process. The vector of dual quaternion error can be used as an indicator to represent the trend of error change of robot’s EE between the nominal value and the actual value. The accuracy of the EE is improved after nearly 20 measurements in the experiment conduct on robot SDA5F. The simulation and experiment verify the effectiveness of the error model and the calibration algorithms.

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