The parameterization of a rigid-body motion can be done using multiple algebraic entities. A very important criterion when choosing a parameterization method is the number of algebraic equations and variables. Recently, orthogonal dual tensors and dual quaternion proved to be a complete tool for computing rigid body displacement and motion parameters. The present research is focused on developing new methods for recovering kinematic data when the state of features attached to a body during a rigid displacement is available. The proof of concept is sustained by computational solutions both for the singularity-free extraction of a dual quaternion from feature-based representation of motion and for the recovery algorithms of the dual quaternion.


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    Titel :

    Singularity-Free Extraction of a Dual Quaternion from Orthogonal Dual Tensor


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Lenarčič, Jadran (Herausgeber:in) / Siciliano, Bruno (Herausgeber:in) / Condurache, Daniel (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020



    Erscheinungsdatum :

    2020-07-18


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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    KLUMPP, A. R. / Charles Stark Draper Laboratory / Inc. et al. | AIAA | 1976


    Quaternion Singularity Revisited

    Carl Grubin | AIAA | 1979



    On the Covariance Singularity of Quaternion Estimators

    Carmi, Avishy / Oshman, Yaakov | AIAA | 2007