Use and application of general quaternion transformations in robotics

Bu makalede kuaternion cebri ve prizmatik manipülatörler için bir genel kuaternion dönüşümünü incelenmiştir. Dönme dönüşümünde, Euler parametreleri ve dönme matrisi arasında bir bağıntı geliştirilmiştir. Bu bağıntı robot kinematik denklemlerini elde etmek için genel kuaternion dönüşümleri kullanıldığında dönme matrisinin hesaplanmasında avantajlıdır. Yöntem ilk kez bir prizmatik robot için de uygulanmıştır.

Robotiklerde genel kuaternion dönüşümlerinin kullanımı ve uygulanması

This article presents quaternion algebra and a general quaternion transformation representation for prismatic manipulators. A relation between Euler parameters and rotation matrix in rotation transformation is developed. This relation is advantageous in computing rotation matrix when the general quaternion transformation is used in order to produce robot kinematic equations. Firstly, the method was also applied for a prismatic robot.

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