Difference between revisions of "Template:Important topics"
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'''[[Quaternions]]'''<br> | '''[[Quaternions]]'''<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> | ||
+ | </tr> | ||
+ | </table> | ||
+ | ---- | ||
+ | <table style="border-spacing:5px;"> | ||
+ | <tr> | ||
+ | <td> | ||
+ | [[File:dh-convention-logo.png|100px]] | ||
+ | </td> | ||
+ | <td valign="top"> | ||
+ | '''[[Denavit-Hartenberg Convention]]'''<br> | ||
+ | The Denavit-Hartenberg convention covers methods to [[Assigning coordinate frames|assign coordinate frames]] to the links of serial link manipulators and to describe the spatial relationship between them by the four [[Denavit-Hartenberg parameters]]. Based on the [[A-matrices]], the transformation of the end-effector with respect to the manipulators base frame can easily be determined and used for further computations. [[Typical link examples|Typical examples]] for links are presented to illustrate the usage of the convention. | ||
+ | </td> | ||
+ | </tr> | ||
+ | </table> | ||
+ | ---- | ||
+ | <table style="border-spacing:5px;"> | ||
+ | <tr> | ||
+ | <td> | ||
+ | [[File:kinematics-logo.png|100px]] | ||
+ | </td> | ||
+ | <td valign="top"> | ||
+ | '''[[Kinematics]]'''<br> | ||
+ | |||
</td> | </td> | ||
</tr> | </tr> | ||
</table> | </table> |
Latest revision as of 15:54, 29 October 2015
Vector algebra |
Matrices |
Matrix inversion |
Transformations |
Three-Angle Representations |
Quaternions |
Denavit-Hartenberg Convention |