Proceedings Vol. 8 (2002)
INŽENÝRSKÁ MECHANIKA 2002
ENGINEERING MECHANICS 2002
May 13 – 16, 2002, Svratka, Czech Republic
Copyright © 2002 Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Bruno University of Technology, Brno
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
pages 45 - +8p., full text
The control of motion a robot manipulator gripper and a mobile (locomotion) robot behaviour requires the solution of the direct and inverse kinematics and dynamics. This paper describes a method for computing such models with the aid of the Denavit-Hartenberg matrix representation for manipulator linkages. the hypercomplex numbers witch take full advantage of limited number of arithmetic operations and substantial reduction in real-time computation. The purpose of this paper is to show how can be used quaternion in robotics and to find out the merits of such application.
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All papers were reviewed by members of the scientific committee.
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