COMPUTATION OF ROBOT MANIPULATORS JACOBIAN : A QUATERNION APPROACH | ||||
| International Conference on Aerospace Sciences and Aviation Technology | ||||
| Article 16, Volume 5, ASAT CONFERENCE 4 - 6 May 1993, CAIRO, May 1993, Page 189-202 PDF (3.22 MB) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/asat.1993.25621 | ||||
 View on SCiNiTO | ||||
| Author | ||||
| A. S. ABDEL-MOHSEN | ||||
| Associate Professor of Mechanical Engineering, Military Technical College, Cairo, EGYPT. | ||||
| Abstract | ||||
| This work deals with the Jacobian computation for robot manipulators using a unified quaternion parameterization of position and orientation of members. Proposed generalized relations expressing the elements of manipulators Jacobian are derived in terms of Boolean parameters. These parameters introduce the contribution of both revolute and prismatic joints. The proposed relations are applied on a case study of a PUMA 560 robot manipulator for which analytical expressions of the Jacobian are obtained and tested by simulation. | ||||
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