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| Title: | A Novel Method for Representing Robot Kinematics using Quaternion Theory |
| Authors: | Sahu, S
Biswal, B B
Subudhi, B |
| Issue Date: | 2008 |
| Citation: | IEEE Sponsored Conference on Computational Intelligence, Control And Computer Vision In Robotics & Automation, March 10-11, 2008, NIT Rourkela |
| Abstract: | The traditional methods for representing forward
kinematics of manipulators have been the homogeneous matrix in
line with the D-H algorithm. In this paper a new method known as
quaternion algebra is described and it is used for three dimensional
representation and orientation in robot kinematics. This method is
compared with homogeneous transform in terms of easiness of
representation, computational efficiency and storage requirement.
Conclusion drawn was that quaternion is more compact and
efficient method of representation than the matrix form. |
| Description: | Copyright for the article belongs to NITR |
| URI: | http://hdl.handle.net/2080/689 |
| Appears in Collections: | Conference Papers
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