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Passive Rotation Compensation in Parallel Kinematics Using Quaternions

In this paper, an approach to compute the passive rotation in a parallel hexapod structure is introduced which is based on quaternions. The advantage of this approach is that it prevents from unnecessary trigonometric or inverse trigonometric functions, which reduces rounding errors and saves memory. (© 2016 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)