QUATERNION MATRIX AND BASIS TRANSFORMATION MATRIX IN ROBOT KINEMATCS

This paper uses quaternion matrix for spatial orientation of robot link.The equations of quaternion matrixand basis transformation matrix are given to calculate position and posture of robot with any freedomdeyrees.The method presented in this paper uses basis transformations as fewer times as possible(in a gen-eral wayone time,at most-two times)to substitute the coordinate transfomations.Calculating process is sim-plified obviously.