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Figure 6: Performance comparison of the rigid body transformation chaining operations The dual-quaternion is the most compact and computationally efficient dual operator to express screw displacement. Here a comparative study is given for dual- quaternion and homogenous transformation matrix based solutions. Figure 6 shows the total number of calculation of rigid transformation for dual-quaternion and homogenous transformation matrix. Figures 7 and 8 show the computation time of the forward and inverse kinematic algorithms. The computation time is evaluated using Matlab’s tic-toc commands on a Core 2 Duo 2.2 GHz PC with 2 GB RAM

Figure 6 Performance comparison of the rigid body transformation chaining operations The dual-quaternion is the most compact and computationally efficient dual operator to express screw displacement. Here a comparative study is given for dual- quaternion and homogenous transformation matrix based solutions. Figure 6 shows the total number of calculation of rigid transformation for dual-quaternion and homogenous transformation matrix. Figures 7 and 8 show the computation time of the forward and inverse kinematic algorithms. The computation time is evaluated using Matlab’s tic-toc commands on a Core 2 Duo 2.2 GHz PC with 2 GB RAM

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Figure 10: Trajectory tracking errors on the coordinates x and z
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Related topics:
MathematicsAlgebraInverse KinematicsScrew TheoryRobot ArmTrajectory TrackingRobot ManipulatorEnd EffectorsQuaternion Algebra
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