Quaternions – alternative for Euler angles in kinematic analysis of machine mechanisms
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RIS BIB ENDNOTEQuaternions – alternative for Euler angles in kinematic analysis of machine mechanisms
Data publikacji: 13.01.2016
Czasopismo Techniczne, 2015, Mechanika Zeszyt 2-M (7) 2015, s. 19 - 26
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Quaternions – alternative for Euler angles in kinematic analysis of machine mechanisms
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.
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Informacje: Czasopismo Techniczne, 2015, Mechanika Zeszyt 2-M (7) 2015, s. 19 - 26
Typ artykułu: Oryginalny artykuł naukowy
Tytuły:
Quaternions – alternative for Euler angles in kinematic analysis of machine mechanisms
Quaternions – alternative for Euler angles in kinematic analysis of machine mechanisms
Institute of Applied Informatics, Faculty of Mechanical Engineering, Cracow University of Technology
Publikacja: 13.01.2016
Status artykułu: Otwarte
Licencja: Żadna
Udział procentowy autorów:
Korekty artykułu:
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AngielskiLiczba wyświetleń: 1559
Liczba pobrań: 1982