1985•Journal of Mechanisms Transmissions and Automation in DesignRequires access

Application of Dual-Number Matrices to the Inverse Kinematics Problem of Robot Manipulators

Gordon R. Pennock, An Tzu Yang

Abstract

This paper presents the application of dual-number matrices to the formulation of displacement equations of robot manipulators with completely general geometry. Dual-number matrices make possible a concise representation of link proportions and joint parameters; together with the orthogonality properties of the matrices we are able to derive, in a systematic manner, closed-form solutions for the joint displacements of robot manipulators with special geometry as illustrated by three examples. It is hoped that the method presented here will provide a meaningful alternative to existing methods for formulating the inverse kinematics problem of robot manipulators.

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Key concepts: Orthogonality, Inverse kinematics, Kinematics, Dual (grammatical number), Robot, Representation (politics), Mathematics, Displacement (psychology)