DocumentCode :
2539096
Title :
Coordinate transformations with euler parameters as a quaternion--An alternative approach to kinematics and dynamics of manipulators
Author :
Lin, Shir-Kuan
Author_Institution :
University Erlangen-Nünberg, Erlangen, West Germany.
Volume :
4
fYear :
1987
fDate :
31837
Firstpage :
33
Lastpage :
38
Abstract :
This paper describes the theory of Euler parameters with the concept of the basis, and uses it to handle coordinate transformations of spatial mechanical motion. A robot is selected as an illustrative example. Applying the theory of Euler parameters the kinematic and dynamic equations of robots in the earlier works can also be derived. For the orientation error functions of robots with Euler parameters, the result of this paper is a necessary mathematical background in the design of the hand Cartesian control of robots.
Keywords :
Algebra; Equations; Error correction; Manipulator dynamics; Motion control; Quaternions; Robot control; Robot kinematics; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBOT.1987.1087838
Filename :
1087838
Link To Document :
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