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

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

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

Date

2012

Authors

Wang, Xiangke

Han, Dapeng

Yu, Changbin (Brad)

Zheng, Zhiqiang

Publisher

Academic Press

Abstract

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