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The geometric structure of unit dual quaternion with application in kinematic control

Wang, Xiangke; Han, Dapeng; Yu, Changbin (Brad); Zheng, Zhiqiang


In this paper, the geometric structure, especially the Lie-group related properties, of unit dual quaternion is investigated. The exponential form of unit dual quaternion and its approximate logarithmic mapping are derived. Correspondingly, Lie-group and

CollectionsANU Research Publications
Date published: 2012
Type: Journal article
Source: Journal of Mathematical Analysis and Applications
DOI: 10.1016/j.jmaa.2012.01.016


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