Abstract
Dual quaternions comprise as special cases real numbers, vectors, dual numbers, line vectors and quaternions. All of these mathematical concepts find applications in the kinematics of large displacements of rigid bodies. Dual quaternions are particularly useful in describing the multiply constrained displacements of the individual links of spatial, single-degree-of-freedom mechanisms. An elementary introduction to the theory is presented with special emphasis on simple geometrical interpretations of the mathematical apparatus.
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© 1984 Springer-Verlag Berlin Heidelberg
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Wittenburg, J. (1984). Dual Quaternions in the Kinematics of Spatial Mechanisms. In: Haug, E.J. (eds) Computer Aided Analysis and Optimization of Mechanical System Dynamics. NATO ASI Series, vol 9. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-52465-3_4
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DOI: https://doi.org/10.1007/978-3-642-52465-3_4
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