On the comparisons of unit dual quaternion and homogeneous transformation matrix

DOI10.1007/s00006-013-0436-yzbMath1306.15013OpenAlexW2047537270MaRDI QIDQ742334

Xiangke Wang, Huayong Zhu

Publication date: 18 September 2014

Published in: Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00006-013-0436-y

zbMATH Keywords

kinematicsdual unit quaternionsEuclidean motionshomogeneous transformation matrix

Mathematics Subject Classification ID

Factorization of matrices (15A23) Differential geometric aspects in kinematics (53A17)

Related Items (7)

Fundamentals of quaternionic kinematics in Euclidean 4-space ⋮ Translation and attitude synchronization for multiple rigid bodies using dual quaternions ⋮ Dual hyperquaternion Poincaré groups ⋮ Singular Values of Dual Quaternion Matrices and Their Low-Rank Approximations ⋮ Minimax Principle for Eigenvalues of Dual Quaternion Hermitian Matrices and Generalized Inverses of Dual Quaternion Matrices ⋮ A regularization-patching dual quaternion optimization method for solving the hand-eye calibration problem ⋮ Hybrid kinematic control for rigid body pose stabilization using dual quaternions

Cites Work

• Nonlinear control of wheeled mobile robots
• The geometric structure of unit dual quaternion with application in kinematic control
• Unit dual quaternion-based feedback linearization tracking problem for attitude and position dynamics
• The attitude control problem
• Passivity-Based Pose Synchronization in Three Dimensions
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