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