Quaternion BasedInverse Kinematics for Industrial RobotManipulators withEuler Wrist

Themajorcomplications ofinverse kinematics "Ref.(10)"presented a newtechnique fortherobots problem forserial robot manipulators aresingularities and calibration based onthequaternion-vector pairs. nonlinearities. Inthis context, itisimportant toformulize the inverse problem inacompact closed form. Inthis paper, we Inthis paper, theinverse kinematics solutions of6-DOF present closed formsolutions ofthe6-DOFindustrial robot industrial robot manipulators classified by"Ref.(11)" are manipulators withEulerwristusingdualquaternions. The

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