Wang, XiangkeHan, DapengYu, Changbin (Brad)Zheng, Zhiqiang2015-12-100022-247Xhttp://hdl.handle.net/1885/62805In 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 andKeywords: Kinematic control; Lie-group structure; Logarithmic mapping; Unit dual quaternionThe geometric structure of unit dual quaternion with application in kinematic control201210.1016/j.jmaa.2012.01.0162016-02-24