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Statements

Subject Item
n2:RIV%2F00216305%3A26210%2F02%3APU30868%21RIV%2F2003%2FMSM%2F262103%2FN
rdf:type
skos:Concept n19:Vysledek
dcterms:description
The control of motion a robot manipulator gripper and a mobile robot behaviour requires the solution of the direct and inverse kinematics and dynamics. This paper describes a method for computing such models with the aid of the Denavit-Hartenberg matrix representation for manipulator linkages, the hypercomplex numbers witch take full advantage of limited number of arithmetic operations and substantial reduction in real-time computation. The purpose of this paper is to show how can be used quaternion in robotics and to find out the merits of such application. The control of motion a robot manipulator gripper and a mobile robot behaviour requires the solution of the direct and inverse kinematics and dynamics. This paper describes a method for computing such models with the aid of the Denavit-Hartenberg matrix representation for manipulator linkages, the hypercomplex numbers witch take full advantage of limited number of arithmetic operations and substantial reduction in real-time computation. The purpose of this paper is to show how can be used quaternion in robotics and to find out the merits of such application.
dcterms:title
QUATERNION APPLICATIONS FOR ROBOT QUATERNION APPLICATIONS FOR ROBOT
skos:prefLabel
QUATERNION APPLICATIONS FOR ROBOT QUATERNION APPLICATIONS FOR ROBOT
skos:notation
RIV/00216305:26210/02:PU30868!RIV/2003/MSM/262103/N
n3:strany
45-46
n3:aktivita
n11:Z
n3:aktivity
Z(MSM 262100024)
n3:dodaniDat
n12:2003
n3:domaciTvurceVysledku
n6:8902984 n6:6460674 n6:3001342
n3:druhVysledku
n18:D
n3:duvernostUdaju
n9:S
n3:entitaPredkladatele
n16:predkladatel
n3:idSjednocenehoVysledku
661348
n3:idVysledku
RIV/00216305:26210/02:PU30868
n3:jazykVysledku
n17:eng
n3:klicovaSlova
robot, quaternion, manipulation, locomotion, modelling, coordinate transformation
n3:klicoveSlovo
n8:quaternion n8:locomotion n8:coordinate%20transformation n8:robot n8:manipulation n8:modelling
n3:kontrolniKodProRIV
[FE740ACDA02F]
n3:mistoKonaniAkce
Svratka
n3:mistoVydani
Brno
n3:nazevZdroje
Inženýrská mechanika 2002
n3:obor
n20:JD
n3:pocetDomacichTvurcuVysledku
3
n3:pocetTvurcuVysledku
3
n3:pocetUcastnikuAkce
0
n3:pocetZahranicnichUcastnikuAkce
0
n3:rokUplatneniVysledku
n12:2002
n3:tvurceVysledku
Březina, Tomáš Houška, Pavel Ehrenberger, Zdeněk
n3:typAkce
n15:CST
n3:zahajeniAkce
2002-05-13+02:00
n3:zamer
n13:MSM%20262100024
s:numberOfPages
2
n5:hasPublisher
Vysoké učení technické v Brně. Fakulta strojního inženýrství. Ústav mechaniky těles, mechatroniky a biomechaniky
n10:isbn
80-214-2109-6
n14:organizacniJednotka
26210