GENERALIZED SCREW TRANSFORMATION AND ITS APPLICATIONS IN ROBOTICS

Year 2015, Volume: 4 Issue: 2, 81 - 88, 14.09.2015

Mehdi Jafari

Abstract

The workspace of the robots can be expressed in terms of the Clifford algebra of the dual quaternions. In this paper, after a review of some basic properties of the generalized dual quaternions we shall use them to kinematical modeling of the robotics in a generalized space.

Keywords

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GENERALIZED SCREW TRANSFORMATION AND ITS APPLICATIONS IN ROBOTICS

Abstract

The workspace of the robots can be expressed in terms of the Clifford algebra of the dual quaternions. In this paper, after a review of some basic properties of the generalized dual quaternions we shall use them to kinematical modeling of the robotics in a generalized space

Keywords

Dual Generalized Quaternion, Robotic, Screw Motion

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