Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning

Kinematic modeling is essential for planning and controlling continuum robot motion. The traditional Denavit Hartenberg (DH) model involves complex matrix multiplication operations, resulting in computationally intensive inverse solutions and trajectory planning. Solving position and orientation cha...

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Ngā kaituhi matua:	Yunfei Li, Qiuhao Wang, Qian Liu
Hōputu:	Artigo
Reo:	Inglês
I whakaputaina:	MDPI AG 2023-10-01
Rangatū:	Applied Sciences
Ngā marau:	Denavit–Hartenberg continuum robot dual quaternion Jacobian matrix trajectory planning
Urunga tuihono:	https://www.mdpi.com/2076-3417/13/20/11289
Ngā Tūtohu:	Tāpirihia he Tūtohu Kāore He Tūtohu, Me noho koe te mea tuatahi ki te tūtohu i tēnei pūkete!