contributor author | Purwar, Anurag | |
contributor author | Ge, Q. J. | |
date accessioned | 2017-05-09T01:01:13Z | |
date available | 2017-05-09T01:01:13Z | |
date issued | 2013 | |
identifier issn | 1942-4302 | |
identifier other | jmr_005_03_031001.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/152621 | |
description abstract | This paper seeks to extend the notion of polar decomposition (PD) from matrix algebra to dualquaternion algebra. The goal is to obtain a simple, efficient and explicit method for determining the PD of spatial displacements in Euclidean threespace that belong to a special Euclidean Group known as SE(3). It has been known that such a decomposition is equivalent to the projection of an element of SE(3) onto SO(4) that yields hyper spherical displacements that best approximate rigidbody displacements. It is shown in this paper that a dual quaternion representing an element of SE(3) can be decomposed into a pair of unit quaternions, called double quaternion, that represents an element of SO(4). Furthermore, this decomposition process may be interpreted as the projection of a point in fourdimensional space onto a unit hypersphere. An example is provided to illustrate that the results obtained from this dualquaternion based polar decomposition are same as those obtained from the matrix based polar decomposition. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Polar Decomposition of Unit Dual Quaternions | |
type | Journal Paper | |
journal volume | 5 | |
journal issue | 3 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4024236 | |
journal fristpage | 31001 | |
journal lastpage | 31001 | |
identifier eissn | 1942-4310 | |
tree | Journal of Mechanisms and Robotics:;2013:;volume( 005 ):;issue: 003 | |
contenttype | Fulltext | |