Open AccessA Novel Dual Quaternion Based Cost Effcient Recursive Newton-Euler Inverse Dynamics Algorithm
Author(s) -
Cristiana Miranda de Farias
Publication year - 2019
Publication title -
international journal of robotic computing
Language(s) - English
Resource type - Journals
ISSN - 2641-9521
DOI - 10.35708/rc1868-126255
Subject(s) - dual quaternion , quaternion , euler's formula , context (archaeology) , inverse dynamics , mathematics , quaternion algebra , inverse , newton's method , linearization , control theory (sociology) , inverse kinematics , computer science , algorithm , kinematics , algebra over a field , mathematical analysis , artificial intelligence , nonlinear system , geometry , pure mathematics , robot , biology , paleontology , control (management) , classical mechanics , quantum mechanics , cellular algebra , physics , algebra representation
In this paper, the well known recursive Newton-Eulerinverse dynamics algorithm for serial manipulators is reformulated intothe context of the algebra of Dual Quaternions. Here we structurethe forward kinematic description with screws and line displacementsrather than the well established Denavit-Hartemberg parameters, thusaccounting better efficiency, compactness and simpler dynamical models.We also present here the closed solution for the dqRNEA, and to doso we formalize some of the algebra for dual quaternion-vectors anddual quaternion-matrices. With a closed formulation of the dqRNEAwe also create a dual quaternion based formulation for the computedtorque control, a feedback linearization method for controlling a serialmanipulator's torques in the joint space. Finally, a cost analysis of themain Dual Quaternions operations and of the Newton-Euler inversedynamics algorithm as a whole is made and compared with other resultsin the literature.