Publication detail

QUATERNION APPLICATIONS FOR ROBOT

EHRENBERGER, Z., BŘEZINA, T., HOUŠKA, P.

Original Title

QUATERNION APPLICATIONS FOR ROBOT

Type

conference paper

Language

English

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.

Keywords

robot, quaternion, manipulation, locomotion, modelling, coordinate transformation

Authors

EHRENBERGER, Z., BŘEZINA, T., HOUŠKA, P.

RIV year

2002

Released

13. 5. 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 from

45

Pages to

46

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",
  pages="2",
  publisher="Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Brno University of Technology",
  address="Brno",
  isbn="80-214-2109-6"
}