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This paper focuses on the development of three newly formed representations of dual attitude and their respective kinematics equations - Dual Classical Rodrigues Parameters, Dual Modified Rodrigues Parameters, Dual Principal Axis and Principal Angle (Dual Principal Rotation Vector). These three formulations are developed by building off of the theories and concepts used with Dual Quaternions and utilizing numerous attitude identities for quaternions to create new identities using dual quaternions and dual attitudes while detailing the process used throughout the derivation. The accompanying dual kinematic equations using these dual attitude parameters are also generated using their respective dual attitude coordinate systems. Furthermore, the new dual attitude representations with their respective, distinct kinematic equations and identities are validated against a simulated 6-DOF rigid body spacecraft control problem to verify equivalency across equations using the dual quaternion as a baseline.

Driven by the need for impact resistance and vibration reduction for mechanical devices in extreme environments, an all-metal vibration isolator with 6-degree-of-freedom (6-DOF) motion that is horizontally symmetrical was developed. Its stiffness and damping ability are provided by oblique springs in symmetrical arrangement and a metal–rubber elasto-porous damper. The spring is symmetrically distributed in the center axis of the support load surface. It is necessary to investigate the kinematics and the singularity before conducting multi-body dynamics analysis of the vibration isolator. Based on the theory of dual quaternions, the forward kinematics equations of the isolator were successively derived for theoretical kinematics modeling. In addition, an enhanced Broyden numerical iterative algorithm was developed and applied to the numerical solution of the forward kinematics equations of the vibration isolator. Compared with the traditional rotation-matrix method and Newton–Raphson method, the computational efficiency of the enhanced Broyden numerical iterative algorithm was increased by 680% and 290%, respectively. This was due to the enhanced algorithm without the calculations of any inverse matrix and forward kinematics equations. Finally, according to the forward kinematics Jacobian matrix, the position-singularity trajectory at a given orientation and the orientation-singularity space at a given position are calculated, which provides a basis for the algorithm of the 6-DOF vibration isolator to avoid singular positions and orientations. [ABSTRACT FROM AUTHOR]

To simplify the kinematics expression and to increase the motion response speed for manipulators,a kinematics modeling method is proposed based on dual quaternion. First,to reduce the computational amount,the general equation of the forward kinematics of the manipulator is presented using dual quaternion.Then,to solve the inverse kinematics problem of the assembled joint variables of manipulator,the sub-problems are classified into two groups of uniaxial and biaxialox,this classification method includes the existing sub-problem classification,which is beneficial to the joint variable grouping solution. Finally,taking a 6 R series manipulator as an example,the forward kinematics and inverse kinematics modeling and simulation analysis based on the dual quaternion are carried out. The results show that this method is effective,comparing with the spinor method,its calculation time of forward kinematics is reduced by about 30%,the geometric meaning of inverse kinematics is more clear. This method can be applied to other sub-problems solution of the manipulator configuration.

Abstract We discuss existence of factorizations with linear factors for (left) polynomials over certain associative real involutive algebras, most notably over Clifford algebras. Because of their relevance to kinematics and mechanism science, we put particular emphasis on factorization results for quaternion, dual quaternion and split quaternion polynomials. A general algorithm ensures existence of a factorization for generic polynomials over division rings but we also consider factorizations for non-division rings. We explain the current state of the art, present some new results and provide examples and counter examples. [ABSTRACT FROM AUTHOR]

Rigid motion computation or estimation is a cornerstone in numerous fields. Attitude computation can be achieved by integrating the angular velocity measured by gyroscopes, the accuracy of which is crucially important for the dead-reckoning inertial navigation. The state-of-the-art attitude algorithms have unexceptionally relied on the simplified differential equation of the rotation vector to obtain the attitude. This paper proposes a functional iteration technique with the Rodrigues vector (named the RodFIter method) to analytically reconstruct the attitude from gyroscope measurements. The RodFIter method is provably exact in reconstructing the incremental attitude as long as the angular velocity is exact. Notably, the Rodrigues vector is analytically obtained and can be used to update the attitude over the considered time interval. The proposed method gives birth to an ultimate attitude algorithm scheme that can be naturally extended to the general rigid motion computation. It is extensively evaluated under the attitude coning motion and compares favorably in accuracy with the mainstream attitude algorithms. This paper is believed having eliminated the long-standing theoretical barrier in exact motion integration from inertial measurements. [ABSTRACT FROM AUTHOR]

We present a new formulation method to solve the kinematic problem of multiarm robot systems. Our major aims were to formulize the kinematic problem in a compact closed form and avoid singularity problems in the inverse kinematic solution. The new formulation method is based on screw theory and quaternion algebra. Screw theory is an effective way to establish a global description of a rigid body and avoids singularities due to the use of the local coordinates. The dual quaternion, the most compact and efficient dual operator to express screw displacement, was used as a screw motion operator to obtain the formulation in a compact closed form. Inverse kinematic solutions were obtained using Paden-Kahan subproblems. This new formulation method was implemented into the cooperative working of 2 Stäubli RX160 industrial robot-arm manipulators. Simulation and experimental results were derived. [ABSTRACT FROM AUTHOR]