Realization of orientation interpolation of 6-axis articulated robot using quaternion

Author:

Ahn Jin-su,Chung Won-jee,Jung Chang-doo

Publisher

Springer Science and Business Media LLC

Subject

Metals and Alloys,General Engineering

Reference12 articles.

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3. JONES E M, FJELD P. Gimbal Angles, Gimbal Lock, and a Fourth Gimbal for Christmas [EB/OL]. http://www.hq.nasa.gov/office/pao/History/alsj/gimbals.html , 2002.

4. PURWAR A, JIN Z, GE Q J. Computer aided synthesis of piecewise rational motions for spherical 2R and 3R robot arms [C]// Annual Mechanisms and Robotics Conference, Las Vegas, 2006: 1209–1222.

5. AHLERS S G, McCARTHY J M. The clifford algebra of double quaternions and the optimization of Ts robot design, applications of clifford algebras in computer science and engineering [M], Birkhauser Inc, 2000.

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