| The Parameterization of Joint Rotation with the Unit Quaternion (2008) | |||||||||||||
Abstract | |||||||||||||
| Abstract. Unit quaternion is an ideal parameterization for joint rotations. However, due to the complexity of the geometry of S 3 group, it’s hard to specify meaningful joint constraints with unit quaternion. In this paper, we have proposed an effective and accurate method to specify the rotation limits for joints parameterized with the unit quaternion. Joint constrains constructed with our method are adequate for most applications. 1 | |||||||||||||
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