Society of Robots - Robot Forum

Software => Software => Topic started by: nowis on June 18, 2009, 06:26:45 AM

Title: 6 dof arm robot kinematics and quaternions
Post by: nowis on June 18, 2009, 06:26:45 AM

Hi,

I have an 6 DOF hobby arm robot (wrist=3DOF). I want to program it with quaternions.
Because this has more advantages.

Can anyone tell me where good info is on the forward and inverse transformation ?
Or is there a way to work with quaternions and translations combined to do the kinematics ?

I have previously programmed the forward- and inverse kinematics of an 4 DOF arm
robot with matrices. See: http://www.lynxmotion.net/viewtopic.php?t=4452 (http://www.lynxmotion.net/viewtopic.php?t=4452)

Greetings

Title: Re: 6 dof arm robot kinematics and quaternions
Post by: Webbot on June 18, 2009, 01:00:59 PM

Not quite sure what you are after - my problem!

Are you asking for a C quaternion library? Or just general info on quaternions? Or neither  ; ???