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Control of Oriented Mechanical systems: A Method Based on Dual Quaternion

IFAC Postprint Volumes IPPV / International Federation of Automatic Control, 2008
This paper focuses on a new type of control laws for oriented mechanical systems. The starting point is dual quaternion and its properties. Logarithm of dual quaternion is defined, based on which control laws are developed, tackling both regulation and ...
Zexiang Li
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Dual quaternions and dual projective spaces

Chaos, Solitons & Fractals, 2009
Abstract In this study, dual unitary matrices SUD(2) were obtained. We correspond to one to one elements of the unit dual sphere S D 3 with the dual unitary matrices SUD(2). Thus, we express spherical concepts such as meridians of longitude and parallels of latitude on SUD(2).
Ata, Erhan, Yaylı, Yusuf
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Quaternions and Dual Quaternions: Singularity-Free Multirobot Formation Control

Journal of Intelligent & Robotic Systems, 2016
Cluster space control is a method of multirobot formation keeping that considers a group of robots to be a single entity, defining state variables to represent characteristics of the group, such as position, orientation, and shape. This technique, however, suffers from singularities when a minimal state representation is used. This paper presents three
Ignacio Mas, Christopher Kitts
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On properties of the dual quaternions

2011
Summary: In this paper, Euler's and De Moivre's formulas for complex numbers and quaternions are generalized for the dual quaternions. Also, the matrix representation of dual quaternions is expressed.
YÜCE, Salim, Ercan, Zeynep
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Quaternion Modulation for Dual-Polarized Antennas

IEEE Communications Letters, 2017
This letter presents a new modulation scheme for dual-polarized antennas based on the theory of quaternion. First, we introduce the concept of quaternions to represent states of polarized antennas and data transmission. Second, we describe a detector based on the quaternion expression for polarized wireless systems and its corresponding theoretical ...
Jian-Feng Gu, Ke Wu
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Bulging‐free dual quaternion skinning

Computer Animation and Virtual Worlds, 2014
ABSTRACTThe linear blend skinning has been the most popular skeletal animation algorithm and also notorious for the collapsing‐joint and candy‐wrapper artifacts. The dual quaternion skinning (DQS) successfully resolves the problems, but it reveals its own artifacts, which we name bulging joint and distorted normal.
YoungBeom Kim, JungHyun Han
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Spherical skinning with dual quaternions and QTangents

ACM SIGGRAPH 2011 Talks, 2011
Building upon previous work with Dual Quaternion skinning [KAVAN 2008], we will introduce a new format to represent tangent frames.
Ivo Zoltan Frey, Ivo Herzeg
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Generalized dual Fibonacci quaternions

2016
Summary: In this paper, we defined the generalized dual Fibonacci quaternions. Also, we investigated the relations between different generalized dual Fibonacci quaternions. Furthermore, we gave the Binet's formulas and Cassini identities for these quaternions.
Yuce, Salim, Torunbalcı Aydın, Fügen
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Quaternionic Subspace Gabor Frames and Their Duals

Advances in Applied Clifford Algebras
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Li, Yun-Zhang, Zhang, Xiao-Li
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Dual quaternion matrices and MATLAB applications

2018
Summary: There are many studies in the literature on real quaternions and real quaternion matrices. There are few studies in the literature on dual quaternions. Definitions of the matrices of dual quaternions used in this study will be given. The originality of our research, the set of dual quaternion matrix we studied, will be defined for the first ...
Nalbant, Kemal Gokhan, Yuce, Salim
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