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).
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.
@@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?
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).
amazing work
👌👌👌
Keep it..
Nice...
Wow...
Thanks for video
Most welcome
Nice
Thanks
could you explain where in the code quaternions avoid singularities, for better understanding? thanks
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.
very nice! Could you provide the codes? I'm doing work with quaternions too.
I will publish it soon.
@@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?
@@iuryamorim1355 using quaternion is for high accuracy and low computation in calculations.
@@mehran1384 So is the inverse of the Jacobian matrix still subject to singularities? Despite using quaternions ?
@@iuryamorim1355 Calculate the error using quaternions and then transform to axis-angle representation. Use the axis as orientation error.
Good
Thanks