🌟 Contents 🌟
💎 (00:00​​) Introduction
💎 (02:29​​) Definition of Unit Quaternions to Express Orientations in Robotics
💎 (04:56​​) Finding a Unit Quaternion Expressing a Given Orientation in Robotics
💎 (07:33​​) Unit Quaternions for Rotations about Unit Axes
💎 (10:17​​) Physical Meaning for Unit Quaternions 1, i, j, and k
💎 (11:02​​) Converting Euler Angles to Unit Quaternions
💎 (14:57​​) Finding a Rotation Matrix R Representing a Given Orientation Expressed by a Unit Quaternion q
💎 (16:11​​) Example: Converting a Unit Quaternion to Its Equivalent Exponential Coordinates
💎 (18:39​​) Product of Two Rotations Expressed with Unit Quaternions
💎 (19:42​​) Demonstration: Unit Quaternion Representation of the Orientation of the UR5e Robot’s Tool Relative to the Base Frame
💎 (21:13​​) Demonstration: enDAQ Sensors with IMU Units Can Output Orientations in Quaternions
💎 (22:00​​) Other Applications for Unit Quaternions (game development)
💎 (22:49​​) Concluding Remarks
This lesson will continue with orientations in Robotics and will discuss Unit Quaternions that are singularity-free representations for the orientation.
This video also has a reading version that complements the video. Our suggestion is to watch the video and then read the reading for a deeper understanding. For the reading, refer to the link below:
www.mecharithm.com/unit-quate...
Be sure to also watch other lessons on Fundamentals of Robotics gathered into a playlist for your convenience as some of the lessons are prerequisites for this lesson.
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References:
📘 Textbooks:
Modern Robotics: Mechanics, Planning, and Control by Frank Park and Kevin Lynch
A Mathematical Introduction to Robotic Manipulation by Murray, Lee, and Sastry
📹 Videos:
/ @iizvullok
🌐 Websites:
endaq.com/
robodk.com/
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