Inverse Kinematics Solution Method for Six-DOF Biased Serial Robotic Arms Based on Dual Quaternions

By combining dual quaternions and Clifford algebras, the problem of low efficiency in inverse kinematics solution for a six-DOF serial robotic arm was solved, achieving efficient inverse kinematics solution, meeting the real-time control requirements of industrial scenarios, and improving the control performance of the robotic arm.

CN121403360BActive Publication Date: 2026-05-26HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HARBIN INST OF TECH
Filing Date
2025-10-24
Publication Date
2026-05-26

AI Technical Summary

Technical Problem

Existing technologies suffer from low computational efficiency when solving the inverse kinematics of a six-DOF serial robotic arm with three consecutive parallel joints, making it difficult to meet the requirements of real-time control in industrial scenarios.

Method used

A method for solving the inverse kinematics of a six-DOF biased serial manipulator based on dual quaternions is adopted. By classifying the six-DOF biased serial manipulator, the inverse kinematics model is performed for Class I and Class II manipulators by combining dual quaternions and Clifford algebras, respectively. The constraint relationship and analytical expression of joint angles are derived to achieve efficient solution.

Benefits of technology

It significantly improves the computational efficiency of inverse kinematics solution, meets the real-time requirements for inverse kinematics solution speed in industrial scenarios, and enhances the control performance and application effectiveness of robotic arms.

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Abstract

This invention relates to a method for solving the inverse kinematics of a six-DOF offset serial manipulator based on dual quaternions, belonging to the field of manipulator design technology. The method is as follows: Six-DOF offset serial manipulators are classified into Type I and Type II. A reference coordinate system and an end-effector coordinate system are established for each type. The link lengths, position coordinates, unit direction vectors, and line spacings of each joint are defined, thus obtaining the Plück coordinates of each joint. Inverse kinematics analysis and solutions are performed for both Type I and Type II manipulators. The solution method is then validated. This invention achieves efficient inverse kinematics solving, meeting the real-time requirements for inverse kinematics solving speed in industrial scenarios and improving the control performance and application efficiency of manipulators in high-precision operation scenarios.
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