A New Quantum-computing-based Algorithm for Robotic Arms and Rigid Bodies
Peer reviewed, Journal article
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OriginalversjonZioui, N., Mahmoudi, Y., Mahmoudi, A., Tadjine, M., & Bentouba, S. (2021). A new quantum-computing-based algorithm for robotic arms and rigid bodies’ orientation. Journal of Applied and Computational Mechanics, 7(3), 1836-1846. 10.22055/jacm.2021.37611.3048
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.