A Comparative Study Between the Successive Screw Displacement and Quaternion Based Methods Used in Forward Kinematics of Serial Robot Manipulator

In this article, we compare two forward kinematic formulation procedures for the 6DoF serial robot manipulator. Both formulation procedures are based on the screw theory. Screw theory based methods are alternative to the classical methods such as D-H (Denavit-Hartenberg) based conventions. The following two methods, successive displacement method and quaternion based method have been considered for comparison in this article. Compared to the successive screw displacement method, quaternion method is computationally efficient and compact. Kinematic modelling of both methods are presented with case studies and compared, concerning forward kinematics of the serial robot manipulator.