倍四元数在串联机构运动学分析中的应用

ouble quaternion is introduced firstly to the closed-form solutions of the inverse kinematics of a serial mechanisms. The rotation and translation of coordinate systems in double quaternions are given based on the transform between double quaternions and dual quaternion. The equations of the inverse kinematics are deduced into the linear equations accordingly and the closed-form solutions are obtained easily. By the presented method, the inverse kinematics of a serial mechanisms is given as an example. The results show that the method is simple and can reduce the computation time greatly.