Computational analysis of robot kinematics, dynamics, and control using the algebra of rotations

摘要

The basic quantities required for computations in robot kinematics, dynamics, and control are defined. By modifying the rotational operator in terms of the Euler parameters and appropriately choosing the zero reference position, the method of the algebra of rotations becomes more efficient than the homogeneous transformation method for computing these basic quantities. As a result, the computational efficiency is improved by about 50|% for robot kinematics, and by about 20|% for robot dynamics and control, if the method of the algebra of rotations is used instead of the homogeneous transformation method.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>