QUATERNION APPLICATIONS FOR ROBOT

Abstract cze:
Abstrakt: 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.

Abstract eng:
Abstract: 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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