学术论文

      On the Use of Quaternions, Dual Quaternions, and Double Quaternions For Freeform Motion Synthesis

      Abstract:
      Recently, there has been considerable effort to bring together quaternion-based representations of spatial displacements with curve design techniques in Computer Aided Geometric Design (CAGD) to develop methods for synthesizing freeform Cartesian motions. These methods have a wide range of applications from computer graphics,Cartesian motion planning for robot manipulators to task specification and motion approximation for spatial mechanism design. This paper compares the use of quaternions, dual quaternions, and double quaternions for freeform motion synthesis in a CAD environment.
      Author: Q.J.Ge [1] C.Chang [1] A.Varshney [1] J.Menon [2]
      作者单位: State University of New York Stony Brook, New York, USA IBM T. J. Watson Research Center Yorktown Heights, New York, USA
      刊 名: 机械设计与研究 ISTICPKU
      年,卷(期): 2004, 20(z1)
      分类号: TH11
      机标分类号: TP2 O23
      在线出版日期: 2005年3月3日