The Parameterization of Joint Rotation with the Unit Quaternion

Abstract. Unit quaternion is an ideal parameterization for joint rotations. However, due to the complexity of the geometry of S3 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.

• Type: Conference
• Year: 2003
• Where: DICTA
• Authors: Qiang Liu, Edmond C. Prakash
• Keywords: DICTA 2003, DICTA 2007, Joint, Meaningful Joint Constraints, Unit Quaternion