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

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

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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

dc.contributor.authorWang, Xiangke
dc.contributor.authorHan, Dapeng
dc.contributor.authorYu, Changbin (Brad)
dc.contributor.authorZheng, Zhiqiang
dc.date.accessioned2015-12-10T23:06:47Z
dc.identifier.issn0022-247X
dc.identifier.urihttp://hdl.handle.net/1885/62805
dc.description.abstractIn 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
dc.publisherAcademic Press
dc.sourceJournal of Mathematical Analysis and Applications
dc.subjectKeywords: Kinematic control; Lie-group structure; Logarithmic mapping; Unit dual quaternion
dc.titleThe geometric structure of unit dual quaternion with application in kinematic control
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume389
dc.date.issued2012
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.ariespublicationf5625xPUB739
local.type.statusPublished Version
local.contributor.affiliationWang, Xiangke, College of Engineering and Computer Science, ANU
local.contributor.affiliationHan, Dapeng, National University of Defense Technology
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.affiliationZheng, Zhiqiang, National University of Defense Technology
local.description.embargo2037-12-31
local.bibliographicCitation.issue2
local.bibliographicCitation.startpage1352
local.bibliographicCitation.lastpage1364
local.identifier.doi10.1016/j.jmaa.2012.01.016
local.identifier.absseo970109 - Expanding Knowledge in Engineering
local.identifier.absseo970101 - Expanding Knowledge in the Mathematical Sciences
dc.date.updated2016-02-24T09:34:34Z
local.identifier.scopusID2-s2.0-84862786385
local.identifier.thomsonID000300206700052
CollectionsANU Research Publications

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