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Table 2 Reachability and similarity of the generalized quaternion-based orientations

From: Extended DMPs Framework for Position and Decoupled Quaternion Learning and Generalization

  Angle-quaternion Axis-quaternion
  \(e_{c}\)(\(^\circ\)) \(\Delta e_{c}\) \(\rho_{c}\) \(e_{r}\)(\(^\circ\)) \(\rho_{r}\)
R 0.0466 0.0041 0.9995 0.5415 0.9999
G1 0.0467 0.0041 0.9986 0.3869 0.9959
G2 0.0466 0.0041 0.9979 0.4465 0.9927
G3 0.0465 0.0041 0.9963 0.4950 0.9870