A Novel Method for Representing Robot Kinematics using Quaternion Theory
نویسندگان
چکیده
The traditional methods for representing forward kinematics of manipulators have been the homogeneous matrix in line with the D-H algorithm. In this paper a new method known as quaternion algebra is described and it is used for three dimensional representation and orientation in robot kinematics. This method is compared with homogeneous transform in terms of easiness of representation, computational efficiency and storage requirement. Conclusion drawn was that quaternion is more compact and efficient method of representation than the matrix form. Keywordsforward kinematics, homogeneous matrix, spatial motion, quaternion algebra
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