Journal of Applied and Computational Mechanics

A New Quantum-computing-based Algorithm for Robotic Arms ‎and Rigid Bodies’ Orientation

Document Type : Research Paper

Authors

1 Department of Mechanical Engineering, Université du Québec à Trois-Rivières & Institut de Recherche sur l’Hydrogène, 3351 Boulevard des Forges,‎ Trois-Rivières, QC G8Z 4M3, Canada

2 Laboratoire RECITS, Université de la Science et de la Technologie Houari Boumediene, BP 32 Bab Ezzouar, 16111, Algiers, Algeria

3 Département Hydraulique Urbaine, École Nationale Supérieure d’Hydraulique Arbaoui Abdallah, 29 Route de Soumaâ, Blida, Algeria ‎

4 Projet Véo, Université de Sherbrooke, 2500 Boulevard de l'Université, Sherbrooke, QC J1K 2R1, Canada

5 Laboratoire de Commande des Processus, Ecole Nationale Polytechnique, Algiers, Algeria

6 Faculty of Engineering and Science, Western Norway University of Applied Sciences Bergen, 5063, Norway

Abstract

Quantum computing model of robotic arm orientation is presented. Spherical and vector coordinates, a homogenous rotation matrix, Pauli gates and quantum rotation operators are used to formulate the orientation model and establish a new algorithm. The quantum algorithm uses a single qubit to compute orientation and has the advantage of operation reversibility. This was validated for a SCARA robot and a five-joints articulated robotic arm. The obtained results show the effectiveness of the proposed methodology.

Keywords

Main Subjects

Publisher’s Note Shahid Chamran University of Ahvaz remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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Journal of Applied and Computational Mechanics
Volume 7, Issue 3
July 2021
Pages 1836-1846