An Improved Unit Quaternion for Attitude Alignment and Inverse Kinematic Solution of the Robot Arm Wrist
This paper introduces a new method for kinematic modeling of the robot arm by deriving a new elegant mathematical formula based on the axis vector with the tangent of the rotation angle. For this purpose, an innovative analytical quaternion is introduced through integration between Axis-Invariants a...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/7/669 |