QUATERNIONS AND MOTION INTERPOLATION

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dc.contributor.authorHeise, Rosannaeng
dc.contributor.authorMacDonald, Bruce A.eng
dc.date.accessioned2008-02-26T22:38:07Z
dc.date.available2008-02-26T22:38:07Z
dc.date.computerscience1999-05-27eng
dc.date.issued1988-11-01eng
dc.description.abstractThis paper explains straight-line interpolation of solid object motion, such as robot end effector translation and rotation. Smoothly changing orientation is accomplished using quaternions- a way of representing every orientation as four numbers (an angle and an axis of rotation). The first portion of the paper clarifies quaternions to provide an intuitive understanding of their role in rotation. Interpolation is then discussed, concluding with some problems in real manipulator implementations. The interpolation method has been tested on an Excalibur robot.eng
dc.description.notesWe are currently acquiring citations for the work deposited into this collection. We recognize the distribution rights of this item may have been assigned to another entity, other than the author(s) of the work.If you can provide the citation for this work or you think you own the distribution rights to this work please contact the Institutional Repository Administrator at digitize@ucalgary.caeng
dc.identifier.department1988-329-41eng
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/30897
dc.identifier.urihttp://hdl.handle.net/1880/45575
dc.language.isoEngeng
dc.publisher.corporateUniversity of Calgaryeng
dc.publisher.facultyScienceeng
dc.subjectComputer Scienceeng
dc.titleQUATERNIONS AND MOTION INTERPOLATIONeng
dc.typeunknown
thesis.degree.disciplineComputer Scienceeng
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