This thesis deals with the usefulness of the application of quaternions
in representing robot kinematics.  The Universal Robot UR3 which is a 6-DOF robotic arm was used for the presentation of the work. The thesis includes a theoretical part and a practical aplication. The theoretical parts describe the use of quaternions and dual quaternions for the calculation of rotation and translation transformations. Practical aplication includes work with UR3 robot and the programming with the control.
The thesis is writen in good english and proper form. The student worked diligently and with enthusiasm.

The thesis can be divided into two parts, mathematical description with calculations and software implementation. While the software solution is functional, well elaborated and verified, mathematical parts misses some structural background. For instance, mathematically dual quaternions are quaternions with dual numbers as coefficients. After application of further constraints the number of free parameters is reduced from 8 to 6 to match the number of DoF. Also the properties of dual quaternions would then correspond better to quaternions. Otherwise the thesis is well written with minor misprints and errors such as eg.:
(language) - pg. 13, line 8 from the bottom: joins -> joints
(typography) - par. 2.4.1 "z" in wrong font; tan^{-1} denoted later as "atan" written in bad font in appendix B
(style) - par. 3.3.2 "length of a quaternion" is rather strange formulation - at least an isomorphism with four dimensional vector space and connection to the length of a vector would be appropriate
(typos) - par. 4.3.2: M_4=.... should be Q_6 at the end Topics for thesis defence:

1. Describe geometric nature of transformation products from Appendix C. Why are there inverse quaternions?
2. Please clarify the notation of the robot's parts, sometimes you use "elbow, shoulder, wrist", sometimes "wrist 1 to 3" and sometimes their combination ("shoulder to wrist 1").