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25621

COMPUTATION OF ROBOT MANIPULATORS JACOBIAN : A QUATERNION APPROACH

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Last updated: 04 Jan 2025

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Abstract

This work deals with the Jacobian computation for robot manipulators using a unified quaternion parameterization of position and orientation of members. Proposed generalized relations expressing the elements of manipulators Jacobian are derived in terms of Boolean parameters. These parameters introduce the contribution of both revolute and prismatic joints. The proposed relations are applied on a case study of a PUMA 560 robot manipulator for which analytical expressions of the Jacobian are obtained and tested by simulation.

DOI

10.21608/asat.1993.25621

Authors

First Name

A.

Last Name

ABDEL-MOHSEN

MiddleName

S.

Affiliation

Associate Professor of Mechanical Engineering, Military Technical College, Cairo, EGYPT.

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Volume

5

Article Issue

ASAT CONFERENCE 4 - 6 May 1993, CAIRO

Related Issue

4665

Issue Date

1993-05-01

Receive Date

2019-01-22

Publish Date

1993-05-01

Page Start

189

Page End

202

Print ISSN

2090-0678

Online ISSN

2636-364X

Article File

ASAT_Volume 5_Issue ASAT CONFERENCE 4 - 6 May 1993, CAIRO_Pages 189-202.pdf

PDF . 3.4MB

Link

https://asat.journals.ekb.eg/article_25621.html

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https://asat.journals.ekb.eg/service?article_code=25621

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16

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Original Article

Type Code

737

Publication Type

Journal

Publication Title

International Conference on Aerospace Sciences and Aviation Technology

Publication Link

https://asat.journals.ekb.eg/

MainTitle

COMPUTATION OF ROBOT MANIPULATORS JACOBIAN : A QUATERNION APPROACH

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Article

Created At

22 Jan 2023