A NEW PROCEDURE OF ROBOTS SPATIAL ROTATIONS TERMINAL CONTROL

Document Type : Original Article

Author

Doctor of Sciences, Ph.D., Professor, Dean of the Faculty of Computer Technologies and Engineering of International Black Sea University (D. Aghmashenebelis Kheivani 13km. #2 Tbilisi, Georgia Tel:(+995 32) 595005 Fax: (+995 32) 595008.

Abstract

ABSTRACT
In the article, using spinor representation of orthogonal transformations, the expressions
between second order complex unitary transformations matrixes and real orthogonal
matrixes of spatial rotations in three dimensional Euclidean space L3 are received, that
allows easily calculating of corresponding Euler’s angles. The obtained results have
enabled reducing the actually three-dimensional problem of spatial motion control to the
one-dimensional problem; control kinematical functions of Euler’s angles and control
spinor matrix of rotation were constructed, by means of which control process of spatial
rotations is completely determine.

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