Hyper Dual Quaternions representation of rigid bodies kinematics

作者：A. Cohen, M. Shoham · 年份：2020 · DOI：10.1016/j.mechmachtheory.2020.103861 · 被引用次数：27 · 研究领域：Computer Science

Abstract 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.