An Improved Unit Quaternion for Attitude Alignment and Inverse Kinematic Solution of the Robot Arm Wrist

Ahmed, Abubaker; Ju, Hehua; yang, Yang; Xu, Hao

doi:10.3390/machines11070669

Cited by 6 publications

(4 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“… ( a ) Experimental setup for beam deflection measurement based on weak power recovery values [ 93 ]; ( b ) quaternion [ 96 ]. …”

Section: High-precision With Single Axismentioning

confidence: 99%

A Review: High-Precision Angle Measurement Technologies

Wang,

Ma,

Cao

et al. 2024

Sensors

View full text Add to dashboard Cite

Angle measurement is an essential component of precision measurement and serves as a crucial prerequisite for high-end manufacturing. It guides the implementation of precision manufacturing and assembly. The current angle measurement methods mainly focus on multiple axes, high precision, and large measurement ranges. This article introduces the technology of angle measurement from the perspectives of single-axis and multi-axis measurement schemes. Firstly, the single-axis measurement scheme is primarily achieved through optical methods, such as encoder discs that measure energy changes and interferometric phase changes, as well as mechanical, electromagnetic, and inertial angle measurement methods, among which interferometric methods offer the highest accuracy, with high cost, and encoder discs provide the largest measurement range with an ordinary price. Secondly, in the multi-axis measurement scheme, autocollimation instruments, including plane mirrors, gratings, and self-designed targets, are the main options. Although grating encoders can achieve three degrees of freedom in angle measurement with an ordinary price, they are limited in terms of measurement range and sensitivity compared to self-designed targets. Lastly, artificial intelligence assistance precision measurement is increasingly being embraced due to significant advancements in computer performance, making it more convenient to identify the relationship between measured values and detection values. In conclusion, angle measurement plays a crucial role in precision manufacturing, and the evolving and improving technologies provide the manufacturing industry with greater choices. The purpose of this review is to help readers quickly find more suitable technical solutions according to current application requirements, such as single/multiple axes, accuracy level, measuring range, budget, etc.

show abstract

“… ( a ) Experimental setup for beam deflection measurement based on weak power recovery values [ 93 ]; ( b ) quaternion [ 96 ]. …”

Section: High-precision With Single Axismentioning

confidence: 99%

A Review: High-Precision Angle Measurement Technologies

Wang,

Ma,

Cao

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…The optimization process iterates until convergence, where cluster assignments remain unchanged. Subsequently, the improved GA employs clustered and optimized tourism objectives to solve the TSP and recommend the optimal tourism path [24][25][26][27]. In summary, the main contributions of this paper are as follows:…”

Section: Introductionmentioning

confidence: 99%

Enhancing the K-Means Algorithm through a Genetic Algorithm Based on Survey and Social Media Tourism Objectives for Tourism Path Recommendations

Damos,

Zhu,

et al. 2024

IJGI

View full text Add to dashboard Cite

Social media platforms play a vital role in determining valuable tourist objectives, which greatly aids in optimizing tourist path planning. As data classification and analysis methods have advanced, machine learning (ML) algorithms such as the k-means algorithm have emerged as powerful tools for sorting through data collected from social media platforms. However, traditional k-means algorithms have drawbacks, including challenges in determining initial seed values. This paper presents a novel approach to enhance the k-means algorithm based on survey and social media tourism data for tourism path recommendations. The main contribution of this paper is enhancing the traditional k-means algorithm by employing the genetic algorithm (GA) to determine the number of clusters (k), select the initial seeds, and recommend the best tourism path based on social media tourism data. The GA enhances the k-means algorithm by using a binary string to represent initial centers and to apply GA operators. To assess its effectiveness, we applied this approach to recommend the optimal tourism path in the Red Sea State, Sudan. The results clearly indicate the superiority of our approach, with an algorithm optimization time of 0.01 s. In contrast, traditional k-means and hierarchical cluster algorithms required 0.27 and 0.7 s, respectively.

show abstract

“…In the study, an adaptive controller was also designed to control the motion of the robot, and the effectiveness of the controller was validated through simulation. Ahmed et al [17] proposed a new analytical quaternion based on the axis vector with the tangent of the rotation angle, which was used to establish the kinematic model of the robot arm. Jiang et al [18] proposed a combination of geometric and algebraic methods for the calculation of the inverse kinematics of a mine cart robot arm.…”

Section: Introductionmentioning

confidence: 99%

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

Liu,

Zhou,

Qiao

et al. 2024

Actuators

View full text Add to dashboard Cite

There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficiency in laneway excavation. To overcome these problems, an advanced dual-arm tunneling robotic system for a coal mine is developed that can achieve the synchronous operation of excavation and the permanent support of laneways to efficiently complete excavation tasks for large-sized cross-section laneways. A dual-arm cutting robot (DACR) has an important influence on the forming quality and excavation efficiency of large-sized cross-section laneways. As a result, the relative kinematics, workspace, and control of dual-arm cutting robots are investigated in this research. First, a relative kinematic model of the DACR is established, and a closed-loop control strategy for the robot is proposed based on the relative kinematics. Second, an associated workspace (AW) for the DACR is presented and generated, which can provide a reference for the cutting trajectory planning of a DACR. Finally, the relative kinematics, closed-loop kinematic controller, and associated workspace generation algorithm are verified through simulation results.

show abstract

An Improved Unit Quaternion for Attitude Alignment and Inverse Kinematic Solution of the Robot Arm Wrist

Cited by 6 publications

References 34 publications

A Review: High-Precision Angle Measurement Technologies

A Review: High-Precision Angle Measurement Technologies

Enhancing the K-Means Algorithm through a Genetic Algorithm Based on Survey and Social Media Tourism Objectives for Tourism Path Recommendations

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

Contact Info

Product

Resources

About