Passive Rotation Compensation in Parallel Kinematics Using Quaternions

Inverse Kinematics using Quaternions

In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection. The three methods are described in some detail. An analysis is performed where the three methods ar...

3D kinematics using dual quaternions: theory and applications in neuroscience

In behavioral neuroscience, many experiments are developed in 1 or 2 spatial dimensions, but when scientists tackle problems in 3-dimensions (3D), they often face problems or new challenges. Results obtained for lower dimensions are not always extendable in 3D. In motor planning of eye, gaze or arm movements, or sensorimotor transformation problems, the 3D kinematics of external (stimuli) or in...

Some Notes on Unit Quaternions and Rotation

Forward Position Kinematics of a Parallel Manipulator with New Architecture

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...

Using navigation to measure rotation kinematics during ACL reconstruction.

Rotational kinematics of the knee is not fully restored after single-bundle anterior cruciate ligament (ACL) reconstruction. Cadaveric experiments using knee testing machines have suggested anatomical reconstruction replacing the anteromedial and posterolateral bundles could restore knee kinematics more effectively than single-bundle reconstruction. However, practical tools to objectively asses...