General quaternion transformation representation for robotic application

Abstract

A general quaternion transformation representation for robotic application is presented in this paper. By using the representation robot kinematic equation can be directly derived. A relation between Euler parameters and rotation matrix in rotation transformation is developed, which takes the computation advantage of rotation matrix when we use the general quaternion transformation representation to derive robot kinematic equations. An application example is also given.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>