A NEW PROCEDURE OF ROBOTS SPATIAL ROTATIONS TERMINAL CONTROL
Alexander Milnikov · The International Conference on Applied Mechanics and Mechanical Engineering · 2008
In the article, using spinor representation of orthogonal transformations, the expressionsbetween second order complex unitary transformations matrixes and real orthogonalmatrixes of spatial rotations in three dimensional Euclidean space L3 are received, thatallows easily calculating of corresponding Euler’s angles. The obtained results haveenabled reducing the actually three-dimensional problem of spatial motion control to theone-dimensional problem; control kinematical functions of Euler’s angles and controlspinor matrix of rotation were constructed, by means of which control process of spatialrotations is completely determine.