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A Spinor Method of Solution of Manipulators’ Inverse Kinematics Problem with Rotational Pairs

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  • Hüseyin Önal

    (International Black Sea University)

Abstract

A new method and algorithm of solution of multijoint manipulators with rotational pairs inverse kinematic problem was created. The method is based on the principally new approach-spinor representation of the spatial generalized rotations. One of the advantages of the method is that it allows elaborating formulation of technological tasks for manipulators in terms of Cartesian coordinates instead of traditional angles’ terms. Besides the method allows using only one (absolute) coordinate system and does not require a set of different (relative) coordinate systems. It provides easy, reliable and efficient way of solution of inverse kinematics problem of multijoints manipulators with rotational pairs.

Suggested Citation

  • Hüseyin Önal, 2008. "A Spinor Method of Solution of Manipulators’ Inverse Kinematics Problem with Rotational Pairs," IBSU Scientific Journal, International Black Sea University, vol. 2(1), pages 170-178.
    • Handle: RePEc:ibl:journl:v:2:y:2008:i:1:p:170-178
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    More about this item

    Keywords

    spinors; rotations; Euler’s angles; basic representations; kinematics inverse problem; orthogonal transformations;
    All these keywords.

    JEL classification:

    • E62 - Macroeconomics and Monetary Economics - - Macroeconomic Policy, Macroeconomic Aspects of Public Finance, and General Outlook - - - Fiscal Policy; Modern Monetary Theory

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