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

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.