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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Váldodahkkit:	Yunfei Li, Qiuhao Wang, Qian Liu
Materiálatiipa:	Artigo
Giella:	Inglês
Almmustuhtton:	MDPI AG 2023-10-01
Ráidu:	Applied Sciences
Fáttát:	Denavit–Hartenberg continuum robot dual quaternion Jacobian matrix trajectory planning
Liŋkkat:	https://www.mdpi.com/2076-3417/13/20/11289
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