Aplikace quaternionů v kinematice robotu
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A
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Vysoké učení technické v Brně. Fakulta strojního inženýrství
Abstract
This thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrated
This thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrated
This thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrated
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Citation
DOCTOR, D. Aplikace quaternionů v kinematice robotu [online]. Brno: Vysoké učení technické v Brně. Fakulta strojního inženýrství. 2019.
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Document version
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Language of document
en
Study field
Matematické inženýrství
Comittee
prof. RNDr. Josef Šlapal, CSc. (předseda)
prof. RNDr. Miloslav Druckmüller, CSc. (místopředseda)
doc. Ing. Luděk Nechvátal, Ph.D. (člen)
doc. RNDr. Jiří Tomáš, Dr. (člen)
prof. Mgr. Pavel Řehák, Ph.D. (člen)
Prof. Bruno Rubino (člen)
Prof. Corrado Lattanzio (člen)
Assoc. Prof. Massimiliano Giuli (člen)
Date of acceptance
2019-06-11
Defence
Vašík (reviewer): remark on general application of dual quaternions for transformations
Result of defence
práce byla úspěšně obhájena
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Standardní licenční smlouva - přístup k plnému textu bez omezení