Engineering Mechanics

International Conference

Proceedings Vol. 8 (2002)


INŽENÝRSKÁ MECHANIKA 2002

ENGINEERING MECHANICS 2002

NATIONAL CONFERENCE WITH INTERNATIONAL PARTICIPATION
May 13 – 16, 2002, Svratka, Czech Republic
;
Editors: Lubomír Houfek, Pavel Hlavoň, Petr Krejčí

Copyright © 2002 Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Bruno University of Technology, Brno

ISBN 80-214-2109-6 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

Quaternion applications for robot
Z. Ehrenberger, T. Březina, P. Houška
pages 45 - +8p., full text

The control of motion a robot manipulator gripper and a mobile (locomotion) 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.


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