In this work, we present new, exact derivations of the dual quaternion exponential and logarithm that remove the zero-angle singularity, enabling the practical ...

Abstract. Modern approaches for robot kinematics employ the product of exponentials formulation, represented using homogeneous transforma- tion matrices.

May 8, 2020 · Dual quaternions are more compact than matrices, which reduces necessary data shuffling, and quaternions require fewer operations for the ...

Analytically, implicit dual quaternions are more compact and require fewer arithmetic instructions for common operations, including chaining and exponentials.

PDF | Modern approaches for robot kinematics employ the product of exponentials formulation, represented using homogeneous transformation matrices.

Abstract. Modern approaches for robot kinematics employ the product of exponentials formulation, represented using homogeneous transforma- tion matrices.

Practical Exponential Coordinates Using Implicit Dual Quaternions. https ... Grassia, F.S.: Practical parameterization of rotations using the exponential map.

Analytically, implicit dual quaternions are more compact and require fewer arithmetic instructions for common operations, including chaining and exponentials.

This work offers a practical connection between dual quaternions and modern exponential coordinates, demonstrating that a dual quaternion-based approach ...

This work offers a practical connection between dual quaternions and modern exponential coordinates, demonstrating that a dual quaternion-based approach ...