Dual quaternion-based inverse kinematics of dexterous finger

作者：Chen Jinbao^*; Han Dong; Nie Hong; Cheng Mei

来源：Journal of Vibroengineering, 2014, 16(6): 2813-2820.

• inverse kinematics
• dexterous finger
• real-time control
• homogeneous matrix transformation
• dual quaternion

The inverse kinematics solution of a dexterous robotic finger has a significant impact on the real-time control of the robotic hand. Therefore a rapid method for solving is needed. The classical homogeneous matrix transformation is the most popular method used in robot kinematics. However, for the multi degree-of-freedom (DOF) robotic finger, the matrix parameters cost much storage and the inverse matrix calculation requires a large amount of computational cost. So it is not conducive to the real-time control of the robotic hand. Therefore, a method based on dual quaternions is presented for analysing the kinematics of a multi-DOF (4-DOF) robotic thumb. Firstly, the kinematics equation is expressed by dual quaternions. Then the multivariate kinematic equations are converted to binary quadratic equations with methods of separating variables and variable substitution, which is relatively easy to obtain the closed-form solution of the inverse kinematics. Finally, it proves that the dual quaternions method has advantages over the homogeneous matrix transformation in storage and computational cost by the specific numbers for the robotic thumb, which is conducive to the real-time control of robotic hand.

• 出版日期2014-9
• 单位南京大学; 上海卫星工程研究所