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Approaching dual quaternions from matrix algebra

Autor
Thomas, F.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2014
Volum
30
Número
5
Pàgina inicial
1037
Pàgina final
1048
DOI
https://doi.org/10.1109/TRO.2014.2341312 Obrir en finestra nova
Projecte finançador
Superficies programables
Repositori
http://hdl.handle.net/2117/24543 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6882186&sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A6913595%29 Obrir en finestra nova
Resum
Dual quaternions give a neat and succinct way to encapsulate both translations and rotations into a unified representation that can easily be concatenated and interpolated. Unfortunately, the combination of quaternions and dual numbers seem quite abstract and somewhat arbitrary when approached for the first time. Actually, the use of quaternions or dual numbers separately are already seen as a break in mainstream robot kinematics, which is based on homogeneous transformations. This paper shows h...
Citació
Thomas, F. Approaching dual quaternions from matrix algebra. "IEEE transactions on robotics", 2014, vol. 30, núm. 5, p. 1037-1048.
Paraules clau
Biquaternions, Cayley factorization, Double quaternions, Dual quaternions, Quaternions, Spatial kinematics
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

Participants