IROS 20250 citations
Gravity Compensation with Dual Quaternions
Francisco Jesús Arjonilla García, Yuichi Kobayashi
Abstract
Static balancing is essential for effective control of robots. The typical approach to obtain the gravity compensation terms is to construct an ad-hoc trigonometric model of the robot. This paper proposes a dual-quaternion representation of centroids that enables streamlined calculation of gravity compensation terms on rigid robots with arbitrary kinematic trees and arbitrary base orientations, valid for revolute and prismatic joints in kinematic chains with rigid links. The method was successfully tested on a six degrees-of-freedom manipulator model and evaluated against third-party software.
BibTeX
@inproceedings{iros2025_gravitycompensat,
title = {Gravity Compensation with Dual Quaternions},
author = {Francisco Jesús Arjonilla García and Yuichi Kobayashi},
booktitle = {IROS 2025},
year = {2025}
}