Abstract

This chapter presents mainly, on the light of both main concepts; The first being the screw motion or/ and dual quaternions kinematics while the second concerns the classical ‘Denavit and Hartenberg parameters’ method, the direct kinematics of a Puma 560 robot. Kinematics analysis studies the relative motions, such as, first of all, the displacement in space of the end effector of a given robot, and thus its velocity and acceleration, associated with the links of the given robot that is usually designed so that it can position its end-effector with a three degree-of-freedom of translation and three degree-of-freedom of orientation within its workspace. First of all, examples of basic solid movements such as rotations , translations , their combinations and general screw motions are studied using both (4x4 ) rigid body transformations and dual quaternions so that the reader could compare and note the similarity of the results obtained using one or the other method

How to Cite
GOUASMI, BELKACEM GOUASMI, MOHAMED OUALI, Mahmoud. The Kinematics of a Puma Robot using Dual Quaternions. Global Journal of Research In Engineering, [S.l.], sep. 2020. ISSN 2249-4596. Available at: <https://engineeringresearch.org/index.php/GJRE/article/view/2053>. Date accessed: 05 dec. 2020.