Mostra el registre d'ítem simple
Approaching dual quaternions from matrix algebra
dc.contributor.author | Thomas, Federico |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2014-11-04T12:20:36Z |
dc.date.available | 2014-11-04T12:20:36Z |
dc.date.created | 2014 |
dc.date.issued | 2014 |
dc.identifier.citation | Thomas, F. Approaching dual quaternions from matrix algebra. "IEEE transactions on robotics", 2014, vol. 30, núm. 5, p. 1037-1048. |
dc.identifier.issn | 1552-3098 |
dc.identifier.uri | http://hdl.handle.net/2117/24543 |
dc.description.abstract | Dual quaternions give a neat and succinct way to encapsulate both translations and rotations into a unified representation that can easily be concatenated and interpolated. Unfortunately, the combination of quaternions and dual numbers seem quite abstract and somewhat arbitrary when approached for the first time. Actually, the use of quaternions or dual numbers separately are already seen as a break in mainstream robot kinematics, which is based on homogeneous transformations. This paper shows how dual quaternions arise in a natural way when approximating 3D homogeneous transformations by 4D rotation matrices. This results in a seamless presentation of rigid-body transformations based on matrices and dual quaternions which permits building intuition about the use of quaternions and their generalizations. |
dc.format.extent | 12 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Approximation theory |
dc.subject.lcsh | Robots -- Kinematics |
dc.subject.lcsh | Matrices |
dc.subject.other | Spatial kinematics |
dc.subject.other | Quaternions |
dc.subject.other | Biquaternions |
dc.subject.other | Double quaternions |
dc.subject.other | Dual quaternions |
dc.subject.other | Cayley factorization |
dc.title | Approaching dual quaternions from matrix algebra |
dc.type | Article |
dc.subject.lemac | Aproximació, Teoria de l' |
dc.subject.lemac | Robots -- Cinemàtica |
dc.subject.lemac | Matrius (Matemàtica) |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/TRO.2014.2341312 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6882186&sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A6913595%29 |
dc.rights.access | Open Access |
local.identifier.drac | 15269973 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Thomas, F. |
local.citation.publicationName | IEEE transactions on robotics |
local.citation.volume | 30 |
local.citation.number | 5 |
local.citation.startingPage | 1037 |
local.citation.endingPage | 1048 |
Fitxers d'aquest items
Aquest ítem apareix a les col·leccions següents
-
Articles de revista [163]
-
Articles de revista [1.397]