Quaternion Algebra Based Forward Kinematic Solution for 6-DOF Industrial Robots Instead of DH Parameters

Authors: Cengiz Deniz

Abstract:

This paper presents a novel approach to solving the forward kinematics problem for six-degree-of-freedom (6-DOF) industrial robots using quaternion algebra. Traditional methods often rely on Denavit-Hartenberg (DH) parameters, which can be computationally expensive and complex for complex robot geometries. Quaternion-based methods offer a more streamlined and efficient alternative by providing a compact and intuitive representation of rotations. The proposed approach leverages quaternion algebra to calculate the target position of the robot's end-effector. By representing rotations as quaternions, the forward kinematics equations become more concise and computationally efficient. The paper demonstrates the effectiveness of the quaternion-based solution through simulations and real-world experiments, highlighting its improved accuracy and reduced computational overhead compared to DH parameter-based methods. This quaternion-based forward kinematic solution provides a valuable tool for optimizing robotic motion planning and enhancing operational safety in industrial applications.

Keywords: industrial robot, forward kinematic, quaternion, DH parameters