Inverse kinematic analysis of the general 6R serial manipulators based on unit dual quaternion and Dixon resultant

摘要

This article addresses the inverse kinematic problem of the general 6R serial robot via unit dual quaternion and Dixon resultant. Firstly, we show quaternion and dual-quaternion. Secondly, by the quaternion and dual quaternion theory, unit dual quaternion kinematics equations of 6R robots are derived. Thirdly, the solution process was constructed via elimination method and Dixon resultant; According to Dixon resultant, we get a 6th-order determinant which is equal to zero, and we can get a 16th-order polynomial in single variable from the determinant. All roots are obtained by a series of solving processes. Finally, the numerical example verifies the correctness of the solution process.