Publication detail
QUATERNION APPLICATIONS FOR ROBOT
EHRENBERGER, Z. BŘEZINA, T. HOUŠKA, P.
English title
QUATERNION APPLICATIONS FOR ROBOT
Type
conference paper
Language
en
Original abstract
The control of motion a robot manipulator gripper and a mobile robot behaviour requires the solution of the direct and inverse kinematics and dynamics. This paper describes a method for computing such models with the aid of the Denavit-Hartenberg matrix representation for manipulator linkages, the hypercomplex numbers witch take full advantage of limited number of arithmetic operations and substantial reduction in real-time computation. The purpose of this paper is to show how can be used quaternion in robotics and to find out the merits of such application.
English abstract
The control of motion a robot manipulator gripper and a mobile robot behaviour requires the solution of the direct and inverse kinematics and dynamics. This paper describes a method for computing such models with the aid of the Denavit-Hartenberg matrix representation for manipulator linkages, the hypercomplex numbers witch take full advantage of limited number of arithmetic operations and substantial reduction in real-time computation. The purpose of this paper is to show how can be used quaternion in robotics and to find out the merits of such application.
Keywords in English
robot, quaternion, manipulation, locomotion, modelling, coordinate transformation
RIV year
2002
Released
13.05.2002
Publisher
Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Brno University of Technology
Location
Brno
ISBN
80-214-2109-6
Book
Inženýrská mechanika 2002
Pages count
2
BIBTEX
@inproceedings{BUT10056,
author="Zdeněk {Ehrenberger} and Tomáš {Březina} and Pavel {Houška},
title="QUATERNION APPLICATIONS FOR ROBOT",
booktitle="Inženýrská mechanika 2002",
year="2002",
month="May",
publisher="Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Brno University of Technology",
address="Brno",
isbn="80-214-2109-6"
}