An introduction to using dual quaternions to study kinematics
Robotics
2025-05-19 v5
Abstract
We explain the use of dual quaternions to represent poses, twists, and wrenches.
Cite
@article{arxiv.2203.13653,
title = {An introduction to using dual quaternions to study kinematics},
author = {Stephen Montgomery-Smith and Cecil Shy},
journal= {arXiv preprint arXiv:2203.13653},
year = {2025}
}
Comments
Added a natural explanation for how a unit dual quaternion acts upon a vector. arXiv admin note: substantial text overlap with arXiv:2202.09268