Explore unit quaternions in robotics through this comprehensive 24-minute video lesson. Learn about their definition, application in expressing orientations, conversion from Euler angles, and relationship to rotation matrices. Discover practical demonstrations using a UR5e robot and enDAQ sensors with IMU units. Gain insights into additional applications in game development. Enhance your understanding with complementary reading material and explore related lessons in the Fundamentals of Robotics series for a thorough grasp of this essential concept in robotics and mechatronics.
Unit Quaternions in Robotics - Great Demos - Fundamentals of Robotics
Mecharithm - Robotics and Mechatronics via YouTube
Overview
Syllabus
​​ Introduction
​​ Definition of Unit Quaternions to Express Orientations in Robotics
​​ Finding a Unit Quaternion Expressing a Given Orientation in Robotics
​​ Unit Quaternions for Rotations about Unit Axes
​​ Physical Meaning for Unit Quaternions 1, i, j, and k
​​ Converting Euler Angles to Unit Quaternions
​​ Finding a Rotation Matrix R Representing a Given Orientation Expressed by a Unit Quaternion q
​​ Example: Converting a Unit Quaternion to Its Equivalent Exponential Coordinates
​​ Product of Two Rotations Expressed with Unit Quaternions
​​ Demonstration: Unit Quaternion Representation of the Orientation of the UR5e Robot’s Tool Relative to the Base Frame
​​ Demonstration: enDAQ Sensors with IMU Units Can Output Orientations in Quaternions
​​ Other Applications for Unit Quaternions game development
​​ Concluding Remarks
Taught by
Mecharithm - Robotics and Mechatronics
