Detail publikace
QUATERNION APPLICATIONS FOR ROBOT
EHRENBERGER, Z. BŘEZINA, T. HOUŠKA, P.
Anglický název
QUATERNION APPLICATIONS FOR ROBOT
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
en
Originální abstrakt
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.
Anglický abstrakt
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.
Klíčová slova anglicky
robot, quaternion, manipulation, locomotion, modelling, coordinate transformation
Rok RIV
2002
Vydáno
13.05.2002
Nakladatel
Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Brno University of Technology
Místo
Brno
ISBN
80-214-2109-6
Kniha
Inženýrská mechanika 2002
Počet stran
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"
}