This paper presents a motion control approach with focus on robotic manipulators based screw theory and dual quaternions. The stability analysis of general quaternion controller has been capitalized to design an additional bounded twist controller. is proposed limit the maximum end-effector within desired value, while preserving accuracy achievable high-gain feedback controllers. controllers co...

Over the last decades quaternions have become a crucial and very successful tool for attitude representation in robotics and aerospace. However, there is a major problem that is continuously causing trouble in practice when it comes to exchanging formulas or implementations: there are two quaternion multiplications in common use, Hamilton’s multiplication and its flipped version, which is often...

This paper introduced the application of a more efficient mathematical representation of the kinematics of avatars, or digital human beings, in telecollaborative virtual reality environments (VRE). The human head, torso and arms were modeled as a redundant eight-degree-of-freedom kinematics structure using an excellent alternative tool to transformation matrices, called dual quaternions. This a...

5 Abstract Algebra 1 5.1 Binary Operations on Sets . . . . . . . . . . . . . . . . . . . . 1 5.2 Commutative Binary Operations . . . . . . . . . . . . . . . . 2 5.3 Associative Binary Operations . . . . . . . . . . . . . . . . . . 2 5.4 Semigroups . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 5.5 The General Associative Law . . . . . . . . . . . . . . . . . . 4 5.6 Identity elements...

9 Vectors and Quaternions 51 9.1 Vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 9.2 Displacement Vectors . . . . . . . . . . . . . . . . . . . . . . . 51 9.3 The Parallelogram Law of Vector Addition . . . . . . . . . . . 52 9.4 The Length of Vectors . . . . . . . . . . . . . . . . . . . . . . 53 9.5 Scalar Multiples of Vectors . . . . . . . . . . . . . . . . . . . . 54...

4 Vectors and Quaternions 47 4.1 Vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.2 Displacement Vectors . . . . . . . . . . . . . . . . . . . . . . . 47 4.3 The Parallelogram Law of Vector Addition . . . . . . . . . . . 49 4.4 The Length of Vectors . . . . . . . . . . . . . . . . . . . . . . 50 4.5 Scalar Multiples of Vectors . . . . . . . . . . . . . . . . . . . . 51...

In SCARA robots, which are often used in industrial applications, all joint axes are parallel, covering three degrees of freedom in translation and one degree of freedom in rotation. Therefore, conventional approaches for the handeye calibration of articulated robots cannot be used for SCARA robots. In this paper, we present a new linear method that is based on dual quaternions and extends the ...