Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling of manipulators namely, Cartesian space and Quaternion space. The transformation between two Cartesian coordinate systems can be decomposed into a rotation and a translation. There are many ways to represent rotation, including the following: Euler angles, Gibbs vector, Cayley-Klein parameters, Pauli spin matrices, axis and angle, orthonormal matrices, and Hamilton 's quaternions. Of these representations, homogenous transformations based on 4x4 real matrices (orthonormal matrices) have been used most often in robotics. Denavit & Hartenberg (1955) showed that a general transformation between two joints requires four parameters. These parameters known as the Denavit-Hartenberg (DH) parameters have become the standard for describing robot kinematics. Although quaternions constitute an elegant representation for rotation, they have not been used as much as homogenous transformations by the robotics community. Dual quaternion can present rotation and translation in a compact form of transformation vector, simultaneously. While the orientation of a body is represented nine elements in homogenous transformations, the dual quaternions reduce the number of elements to four. It offers considerable advantage in terms of computational robustness and storage efficiency for dealing with the kinematics of robot chains (Funda et al., 1990). The robot kinematics can be divided into forward kinematics and inverse kinematics. Forward kinematics problem is straightforward and there is no complexity deriving the equations. Hence, there is always a forward kinematics solution of a manipulator. Inverse kinematics is a much more difficult problem than forward kinematics. The solution of the inverse kinematics problem is computationally expansive and generally takes a very long time in the real time control of manipulators. Singularities and nonlinearities that make the