|
|
Line 78: |
Line 78: |
| <td valign="top"> | | <td valign="top"> |
| '''[[Denavit Hartenberg Convention]]'''<br> | | '''[[Denavit Hartenberg Convention]]'''<br> |
− | In this chapter [[Quaternions|quaternions]] are introduced, with which rotations can be represented. First, the [[basic properties of quaternions|basic properties]] of a quaternion are presented. Then [[Pure and unit quaternions|pure and unit quaternions]] followed by the rules for [[Addition of quaternions|addition]] and [[Multiplication of quaternions|multiplication]] are explained. Quaternions are usually used to represent [[Rotations using quaternions|rotations]] but can also be used for the [[Realization of transformations|realization of transformations]] in general.
| + | |
| </td> | | </td> |
| </tr> | | </tr> |
Line 90: |
Line 90: |
| <td valign="top"> | | <td valign="top"> |
| '''[[Kinematics]]'''<br> | | '''[[Kinematics]]'''<br> |
− | In this chapter [[Quaternions|quaternions]] are introduced, with which rotations can be represented. First, the [[basic properties of quaternions|basic properties]] of a quaternion are presented. Then [[Pure and unit quaternions|pure and unit quaternions]] followed by the rules for [[Addition of quaternions|addition]] and [[Multiplication of quaternions|multiplication]] are explained. Quaternions are usually used to represent [[Rotations using quaternions|rotations]] but can also be used for the [[Realization of transformations|realization of transformations]] in general.
| + | |
| </td> | | </td> |
| </tr> | | </tr> |
| </table> | | </table> |