Author Topic: 6 dof arm robot kinematics and quaternions  (Read 2432 times)

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Offline nowisTopic starter

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6 dof arm robot kinematics and quaternions
« on: June 18, 2009, 06:26:45 AM »

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:


Offline Webbot

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Re: 6 dof arm robot kinematics and quaternions
« Reply #1 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  ; ???
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