Abstract:Forward kinematics is fundamental to robot design, control, and simulation. Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot. This paper presents a robot forward kinematics algorithm in dual quaternion space. The presented method uses Denavit-Hartenberg (DH) convention for uniform definition of successive rotational and translational transformations in joints along the robot's kinematic chain. This research aims to utilize the advantages of dual quaternio… Show more
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