DUAL QUATERNIONIC REGULAR FUNCTION OF DUAL QUATERNION VARIABLES
نویسندگان
چکیده
منابع مشابه
Dual Quaternion
As we know, quaternions are very efficient for representing rotations with clear geometric meaning (rotation axis and angle) and only one redundancy. Unfortunately, they do not handle translations, which meanwhile can be made multiplicative along with rotations via the use of homogeneous coordinates. Despite also being 4-tuples, homogeneous coordinates are algebraically incompatible with quater...
متن کاملDual Quaternion Synthesis of Constrained Robotic Systems
This paper presents a dual quaternion methodology for the kinematic synthesis of constrained robotic systems. These systems are constructed from one or more serial chains such that each chain imposes at least one constraint on the movement of the workpiece. Serial chains that have constrained workspaces can be synthesized by evaluating the kinematics equations of the chain on a finite set of ta...
متن کاملDual Quaternion Synthesis of Constrained Robots
This paper presents a synthesis methodology for robots that have less than six degrees of freedom, termed constrained robots. The goal is to determine the physical parameters of the chain that fit its workspace to a given set of spatial positions. Our formulation uses the dual quaternion form of the kinematics equations of the constrained robot. Here we develop the theory and formulate the synt...
متن کاملReal Time Skeletal Animation with Dual Quaternion
Though Combination of Quaternions and matrix has been a popular tool in skeletal animation for more than 20 years, classical quaternions are restricted to the representation of rotations. In skeletal animation and many other applications of 3D computer graphics, we actually deal with rigid transformation including both rotation and translation. Dual quaternions represent rigid transformations n...
متن کاملUnit Dual-Quaternion Parametrisation for Graph SLAM
This paper presents a new parameterisation approach for the graph-based SLAM problem utilising unit dual-quaternion. The rigid-body transformation typically consists of the robot position and rotation, and due to the Lie-group nature of the rotation, a homogeneous transformation matrix (HTM) has been widely used in pose-graph optimizations. In this paper, we investigate the use of unit dual-qua...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The Pure and Applied Mathematics
سال: 2016
ISSN: 1226-0657
DOI: 10.7468/jksmeb.2016.23.1.97