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