基于量子计算的机械臂和刚体定向新算法

Q4 Chemical Engineering

Applied and Computational Mechanics Pub Date : 2021-07-01 DOI:10.22055/JACM.2021.37611.3048

N. Zioui, Yousra Mahmoudi, Aicha Mahmoudi, M. Tadjine, S. Bentouba

{"title":"基于量子计算的机械臂和刚体定向新算法","authors":"N. Zioui, Yousra Mahmoudi, Aicha Mahmoudi, M. Tadjine, S. Bentouba","doi":"10.22055/JACM.2021.37611.3048","DOIUrl":null,"url":null,"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.","PeriodicalId":37801,"journal":{"name":"Applied and Computational Mechanics","volume":"7 1","pages":"1836-1846"},"PeriodicalIF":0.0000,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"A New Quantum-computing-based Algorithm for Robotic Arms and Rigid Bodies’ Orientation\",\"authors\":\"N. Zioui, Yousra Mahmoudi, Aicha Mahmoudi, M. Tadjine, S. Bentouba\",\"doi\":\"10.22055/JACM.2021.37611.3048\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":37801,\"journal\":{\"name\":\"Applied and Computational Mechanics\",\"volume\":\"7 1\",\"pages\":\"1836-1846\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Applied and Computational Mechanics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.22055/JACM.2021.37611.3048\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"Chemical Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Applied and Computational Mechanics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.22055/JACM.2021.37611.3048","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"Chemical Engineering","Score":null,"Total":0}

引用次数: 8

摘要

提出了机械臂定位的量子计算模型。利用球面坐标和矢量坐标、齐次旋转矩阵、泡利门和量子旋转算子建立了定向模型，并建立了新的算法。该算法使用单个量子比特计算方向，具有操作可逆性的优点。在SCARA机器人和五关节关节机械臂上验证了这一点。仿真结果表明了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

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

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Applied and Computational Mechanics Engineering-Computational Mechanics

CiteScore

0.80

自引率

0.00%

发文量

审稿时长

14 weeks

期刊介绍： The ACM journal covers a broad spectrum of topics in all fields of applied and computational mechanics with special emphasis on mathematical modelling and numerical simulations with experimental support, if relevant. Our audience is the international scientific community, academics as well as engineers interested in such disciplines. Original research papers falling into the following areas are considered for possible publication: solid mechanics, mechanics of materials, thermodynamics, biomechanics and mechanobiology, fluid-structure interaction, dynamics of multibody systems, mechatronics, vibrations and waves, reliability and durability of structures, structural damage and fracture mechanics, heterogenous media and multiscale problems, structural mechanics, experimental methods in mechanics. This list is neither exhaustive nor fixed.