Name
Abstract | ||
|---|---|---|
Three-dimensional modeling of rotations and translations in robot kinematics is most commonly performed using homogeneous transforms. An alternate approach, using quaternion-vector pairs as spatial operators, is compared with homogeneous transforms in terms of computational efficiency and storage economy. The conclusion drawn is that quaternion-vector pairs are as efficient as, more compact than, and more elegant than their matrix counterparts. A robust algorithm for converting rotational matrices into equivalent unit quaternions is described, and an efficient quaternion-based inverse kinematics solution for the Puma 560 robot arm is presented |
Year | DOI | Venue |
|---|---|---|
1990 | 10.1109/70.56658 | Robotics and Automation, IEEE Transactions |
Keywords | Field | DocType |
kinematics,robots,transforms,3D modelling,Puma 560,computational efficiency,homogeneous transforms,inverse kinematics,quaternions,robot kinematics | Robotic arm,Kinematics,Inverse kinematics,Control theory,Matrix (mathematics),Quaternion,Robot kinematics,Control engineering,Operator (computer programming),Inverse problem,Mathematics | Journal |
Volume | Issue | ISSN |
6 | 3 | 1042-296X |
Citations | PageRank | References |
42 | 21.46 | 2 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Funda, J. | 1 | 42 | 21.46 |
| Russell H. Taylor | 2 | 1970 | 438.00 |
| Paul, R.P. | 3 | 42 | 21.46 |