Aplikace quaternionů v kinematice robotu

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but.committeeprof. RNDr. Josef Šlapal, CSc. (předseda) prof. RNDr. Miloslav Druckmüller, CSc. (místopředseda) doc. Ing. Luděk Nechvátal, Ph.D. (člen) doc. RNDr. Jiří Tomáš, Dr. (člen) prof. Mgr. Pavel Řehák, Ph.D. (člen) Prof. Bruno Rubino (člen) Prof. Corrado Lattanzio (člen) Assoc. Prof. Massimiliano Giuli (člen)cs
but.defenceVašík (reviewer): remark on general application of dual quaternions for transformationscs
but.jazykangličtina (English)
but.programAplikované vědy v inženýrstvícs
but.resultpráce byla úspěšně obhájenacs
dc.contributor.advisorMatoušek, Radomilen
dc.contributor.authorDoctor, Dianaen
dc.contributor.refereeVašík, Petren
dc.date.created2019cs
dc.description.abstractThis thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrateden
dc.description.abstractThis thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstratedcs
dc.description.markAcs
dc.identifier.citationDOCTOR, D. Aplikace quaternionů v kinematice robotu [online]. Brno: Vysoké učení technické v Brně. Fakulta strojního inženýrství. 2019.cs
dc.identifier.other117291cs
dc.identifier.urihttp://hdl.handle.net/11012/175499
dc.language.isoencs
dc.publisherVysoké učení technické v Brně. Fakulta strojního inženýrstvícs
dc.rightsStandardní licenční smlouva - přístup k plnému textu bez omezenícs
dc.subjectquaternionsen
dc.subjectdual quaternionsen
dc.subjectroboticsen
dc.subjectuniversal roboten
dc.subjectUR3en
dc.subjectforward kinematicsen
dc.subjectinverse kinematicsen
dc.subjectthree-dimensional rotationsen
dc.subjectquaternionscs
dc.subjectdual quaternionscs
dc.subjectroboticscs
dc.subjectuniversal robotcs
dc.subjectUR3cs
dc.subjectforward kinematicscs
dc.subjectinverse kinematicscs
dc.subjectthree-dimensional rotationscs
dc.titleAplikace quaternionů v kinematice robotuen
dc.title.alternativeApplications of Quaternions in Robot Kinematicscs
dc.typeTextcs
dc.type.drivermasterThesisen
dc.type.evskpdiplomová prácecs
dcterms.dateAccepted2019-06-11cs
dcterms.modified2019-06-17-07:27:04cs
eprints.affiliatedInstitution.facultyFakulta strojního inženýrstvícs
sync.item.dbid117291en
sync.item.dbtypeZPen
sync.item.insts2025.03.27 08:46:46en
sync.item.modts2025.01.15 14:58:07en
thesis.disciplineMatematické inženýrstvícs
thesis.grantorVysoké učení technické v Brně. Fakulta strojního inženýrství. Ústav matematikycs
thesis.levelInženýrskýcs
thesis.nameIng.cs
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