%0 Journal Article
%T Quaternions – alternative for Euler angles in kinematic analysis of machine mechanisms
%A Czyżewski, Tadeusz
%J Czasopismo Techniczne
%V 2015
%N Mechanika Zeszyt 2-M (7) 2015
%P 19-26
%K quaternions, Euler angles, inverse kinematics
%@ 0011-4561
%D 2016
%U https://ejournals.eu/czasopismo/czasopismo-techniczne/artykul/quaternions-alternative-for-euler-angles-in-kinematic-analysis-of-machine-mechanisms
%X 
	The article presents some types of problems that can occur during solving the inverse kinematics and the steps to prevent them. These problems concern the numerical singularities which occur when Euler angles are used to describe the orientation of the mechanism links in space. This paper proposes to eliminate the mentioned numerical singularities by replacing Euler angles with quaternions. The discussed issues were shown on the example of a backhoe excavator equipment system.