Defining Rotations Limits using Quaternions In 3d Space
- From: "oracle3001" <adam.hartshorne@xxxxxxxxx>
- Date: 30 Mar 2007 06:33:24 -0700
Hi,
This may be a stupid question, but I have recently discovered
quaternions as a method of defining rotations in 3d space. As an aside
I am from computer science background rather than a pure maths one.
What I am trying to achieve is the following. Imagine I am defining
the rotation that occurs between ones upper and lower arm at the elbow
joint. This has 3 (DOF) degrees of freedom and if it was to be defined
using euler angles it may be achieved using 3 such angles. The limits
of the overall motion allowed by the elbow joint would be achieved by
putting limits of each euler angle. However as I am sure you are aware
if you describe a series of euler angles, the problem of Gimbal lock
can occur.
Ok so rather than describing the possible rotations using euler
angles, I am looking to achieve this using one or more quaternions.
Any suggestions about how I could achieve this would be much
appreciated, with the main problem that I am grappling with is how I
can define limits of this quaternion based rotation in order to
enforce restrictions on the freedom of rotation(s) that mimic a real
joint.
Any help much appreciated,
Adam
.
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