A Spinor Method of Solution of Manipulators’ Inverse Kinematics Problem with Rotational Pairs

Hüseyin Önal ()
Additional contact information
Hüseyin Önal: International Black Sea University

IBSU Scientific Journal, 2008, vol. 2, issue 1, 170-178

Abstract: A new method and algorithm of solution of multijoint manipulators with rotational pairs inverse kinematic problem was created. The method is based on the principally new approach-spinor representation of the spatial generalized rotations. One of the advantages of the method is that it allows elaborating formulation of technological tasks for manipulators in terms of Cartesian coordinates instead of traditional angles’ terms. Besides the method allows using only one (absolute) coordinate system and does not require a set of different (relative) coordinate systems. It provides easy, reliable and efficient way of solution of inverse kinematics problem of multijoints manipulators with rotational pairs.

Keywords: spinors; rotations; Euler’s angles; basic representations; kinematics inverse problem; orthogonal transformations (search for similar items in EconPapers)
JEL-codes: E62 (search for similar items in EconPapers)
Date: 2008
References: Add references at CitEc
Citations:

Downloads: (external link)
https://journal.ibsu.edu.ge/index.php/ibsusj/article/download/38/35 (application/pdf)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:ibl:journl:v:2:y:2008:i:1:p:170-178

Access Statistics for this article

IBSU Scientific Journal is currently edited by Giuli Alasania

More articles in IBSU Scientific Journal from International Black Sea University Contact information at EDIRC.
Bibliographic data for series maintained by Salavat Sayfullin ().