Differential Inverse Kinematics Using Quaternions

[@robfei-u6b]

Hi， Dr. Mehran Andalibi， in the algorithm process no 8 : eo, what is the eo, which is 2 quaternion minus each other?, and in no 9 :, J(G)(q) is relate to (wx, wy ,wz), but quaternion has 4 elements, what is inside of J(G) , this is the normal J(G) or special J(G) , because J(G) is 6*6 , ep has 3 elements, but eo has 4 elements(if using quaternion).

[@mohammedbakkar938]

amazing work

[@ovikhan779]

👌👌👌

[@oronnopakhi4360]

Keep it..

[@arifmiah9887]

Nice...

[@afraislam4970]

Wow...

[@samplesample232]

Thanks for video

[@mehran1384]

Most welcome

[@nilakas8307]

Nice

[@mehran1384]

Thanks

[@iuryamorim1355]

could you explain where in the code quaternions avoid singularities, for better understanding? thanks

[@mehran1384]

If you want to see why quaternions do not have a mathematical singularity, you need to watch the video on inverse kinematics/inverse orientation where I used quaternions.

[@iuryamorim1355]

very nice! Could you provide the codes? I'm doing work with quaternions too.

[@mehran1384]

I will publish it soon.

[@iuryamorim1355]

@@mehran1384 I don't understand in the code when the Jacobian matrix is ​​inverted, at what point will using quaternions prevent it from being non-invertible?

[@mehran1384]

@@iuryamorim1355 using quaternion is for high accuracy and low computation in calculations.

[@iuryamorim1355]

​@@mehran1384 So is the inverse of the Jacobian matrix still subject to singularities? Despite using quaternions ?

[@engcaiobarros]

@@iuryamorim1355 Calculate the error using quaternions and then transform to axis-angle representation. Use the axis as orientation error.

[@AsmaBegum-vn8fz]

Good

[@mehran1384]

Thanks