Research on the rigid body pose estimation using dual quaternions
نویسندگان
چکیده
منابع مشابه
Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions
In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hysteresis in such a way that the global asymptotic stability of the closed-loop system is guaranteed and such that the global attractivity of the stabilization pose does not exhibit chattering, a problem that is present...
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An algorithm for estimating the pose and twist of a rigid body using measurements made by a redundant number of on-board accelerometers is formulated. Redundancy helps reduce the e ect of the accelerometer noise. This algorithm is based only on rigid-body kinematics because it is intended to be used for rigid bodies acted upon by forces and moments elusive to modelling. Procedures are developed...
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Quaternions have been a popular tool in 3D computer graphics for more than 20 years. However, classical quaternions are restricted to the representation of rotations, whereas in graphical applications we typically work with rotation composed with translation (i.e., a rigid transformation). Dual quaternions represent rigid transformations in the same way as classical quaternions represent rotati...
متن کاملLie Group Variational Integrators for Rigid Body Problems Using Quaternions
Rigid body dynamics on the rotation group have typically been represented in terms of rotation matrices, unit quaternions, or local coordinates, such as Euler angles. Due to the coordinate singularities associated with local coordinate charts, it is common in engineering applications to adopt the unit quaternion representation, and the numerical simulations typically impose the unit length cond...
متن کاملA Feature Map Approach to Pose Estimation Based on Quaternions
This paper proposes a novel solution to the problem of pose estimation of three-dimensional objects using feature maps. Our approach relies on quaternions as the mathematical representation of object orientation. We introduce the rigid map, which is derived from Kohonen’s self-organizing feature map. Its topology is fixed and chosen in accordance with the quaternion representation. The map is t...
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ژورنال
عنوان ژورنال: Advances in Mechanical Engineering
سال: 2019
ISSN: 1687-8140,1687-8140
DOI: 10.1177/1687814018823115