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.
CITATION STYLE
Condurache, D. (2021). Singularity-Free Extraction of a Dual Quaternion from Orthogonal Dual Tensor. In Springer Proceedings in Advanced Robotics (Vol. 15, pp. 142–149). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-50975-0_18
Mendeley helps you to discover research relevant for your work.