QUATERNION-BASED APPROACH FOR SOLVING THE DIRECT KINEMATICS OF A MODULAR HYPER REDUNDANT ROBOT

Abstract

The paper presents a new approach for solving the direct kinematics of a modular high dexterity robot by integrating the quaternions of the mobile platforms in the calculation algorithm. The information related to the mobile platforms quaternions are obtained from dedicated IMU sensors. These data are then used to determine the position and orientation of all mobile platforms and provide the necessary data for path planning and robot control algorithms. The developed method was tested using Matlab for a 10 DOF modular hyper redundant robot. The obtained numerical results validated the proposed approach