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National Repository of Grey Literature 2 records found  Search took 0.00 seconds. 
Applications of Quaternions in Robot Kinematics
 Doctor, Diana ; Vašík, Petr (referee) ; Matoušek, Radomil (advisor)
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
Detailed record
Applications of Quaternions in Robot Kinematics
 Doctor, Diana ; Vašík, Petr (referee) ; Matoušek, Radomil (advisor)
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
Detailed record

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