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
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;
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
DOI :
10.1109/ICSMC.1993.385031
