Quaternion Based Inverse Kinematics for Industrial Robot Manipulators with Euler Wrist

The major complications of inverse kinematics problem for serial robot manipulators are singularities and nonlinearities. In this context, it is important to formulize the inverse problem in a compact closed form. In this paper, we present closed form solutions of the 6-DOF industrial robot manipulators with Euler wrist using dual quaternions. The successive screw displacements in dual quaternions reduce sine/cosine-type nonlinearities, resulting in a very compact formulation. The RS, RN, and NS robot manipulators are considered as the examples of the employed method