Original title: Aplikace quaternionů v kinematice robotu
Translated title: Applications of Quaternions in Robot Kinematics
Authors: Doctor, Diana ; Vašík, Petr (referee) ; Matoušek, Radomil (advisor)
Document type: Master’s theses
Year: 2019
Language: eng
Publisher: Vysoké učení technické v Brně. Fakulta strojního inženýrství
Abstract: This thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrated
Keywords: dual quaternions; forward kinematics; inverse kinematics; quaternions; robotics; three-dimensional rotations; universal robot; UR3; dual quaternions; forward kinematics; inverse kinematics; quaternions; robotics; three-dimensional rotations; universal robot; UR3

Institution: Brno University of Technology (web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library.
Original record: http://hdl.handle.net/11012/175499

Permalink: http://www.nusl.cz/ntk/nusl-401559


The record appears in these collections:
Universities and colleges > Public universities > Brno University of Technology
Academic theses (ETDs) > Master’s theses
 Record created 2019-08-26, last modified 2022-09-04


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