COORDINATE TRANSFORMATIONS WITH EULER PARAMETERS AS A QUATERNION - AN ALTERNATIVE APPROACH TO KINEMATICS AND DYNAMICS OF MANIPULATORS.

Shir-Kuan Lin*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A description is given of the theory of Euler parameters with the concept of the basis, and used to handle coordinate transformations of spatial mechanical motion. A robot is selected as an illustrative example. Applying the theory of Euler parameters, the kinematic and dynamic equations of robots in the earlier works can also be derived. For the orientation error functions of robots with Euler parameters, the result is a necessary mathematical background in the design of the hand Cartesian control of robots.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages33-38
Number of pages6
ISBN (Print)0818607874
DOIs
StatePublished - 1 Jan 1987

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