DocumentCode
289855
Title
General quaternion transformation representation for robotic application
Author
Tan, Qing ; Balchen, Jens G.
Author_Institution
Dept. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
fYear
1993
fDate
17-20 Oct 1993
Firstpage
319
Abstract
A general quaternion transformation representation for robotic application is presented in this paper. By using the representation robot kinematic equation can be directly derived. A relation between Euler parameters and rotation matrix in rotation transformation is developed, which takes the computation advantage of rotation matrix when we use the general quaternion transformation representation to derive robot kinematic equations. An application example is also given
Keywords
robot kinematics; vectors; Euler parameters; general quaternion transformation representation; robot kinematic equation; robotic application; rotation matrix; rotation transformation; Closed-form solution; Differential equations; Quaternions; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location
Le Touquet
Print_ISBN
0-7803-0911-1
Type
conf
DOI
10.1109/ICSMC.1993.385031
Filename
385031
Link To Document