Unit Quaternions in Robotics - Great Demos - Fundamentals of Robotics

This lesson explains unit quaternions for representing orientations in robotics. It covers conversions with Euler angles, rotation matrices, and exponential coordinates, then demonstrates applications with a UR5e robot and IMU sensors.

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