Detail publikačního výsledku

QUATERNION APPLICATIONS FOR ROBOT

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

Originální název

QUATERNION APPLICATIONS FOR ROBOT

Anglický název

QUATERNION APPLICATIONS FOR ROBOT

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

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

Vydáno

13.05.2002

Nakladatel

Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Brno University of Technology

Místo

Brno

ISBN

80-214-2109-6

Kniha

Inženýrská mechanika 2002

Strany od

45

Strany počet

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"
}