Hyper Dual Quaternions representation of rigid bodies kinematics

被引：22
作者：
Cohen, Avraham [1 ]
Shoham, Moshe [1 ]
机构：
[1] Technion Israel Inst Technol, Dept Mech Engn, Robot Lab, IL-32000 Haifa, Israel
来源：
MECHANISM AND MACHINE THEORY | 2020年 / 150卷
关键词：
Dual-quaternion; Hyper-dual numbers; Hyper dual-quaternion; Rigid body kinematics; TRANSLATION; ATTITUDE;
D O I：
10.1016/j.mechmachtheory.2020.103861
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Hyper-Dual Quaternions, HDQ, are first introduced in this paper. Utilizing the Hyper-Dual Numbers, HDN, Dual Quaternions, DQ, and hyper-dual angle, the general expression of HDQ is obtained. Rigid single- and multi-body kinematics such as in a serial robot kinematics, are then expressed in HDQ form. Taking advantage of the dual numbers' "automatic differentiation" feature, HDQ encompasses both body pose (translational and rotational) and body velocities in a compact form with no need for further pose differentiation. (C) 2020 Elsevier Ltd. All rights reserved.
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页数：9
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