相关论文: Dynamics of Mobile Manipulators using Dual Quatern…
In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories…
We derive a family of efficient constrained dynamics algorithms by formulating an equivalent linear quadratic regulator (LQR) problem using Gauss principle of least constraint and solving it using dynamic programming. Our approach builds…
This paper revisits the little-known Gibbs-Rodrigues representation of rotations in a three-dimensional space and demonstrates a set of algorithms for handling it. In this representation the rotation is itself represented as a…
Dual quaternions can represent rigid body motion in 3D spaces, and have found wide applications in robotics, 3D motion modelling and control, and computer graphics. In this paper, we introduce three different right linear independency for a…
Non-linear electrodynamics arising in the frames of field theories in noncommutative space-time is examined on the base of quaternion formalism. The problem of form-invariance of the corresponding nonlinear constitutive relations governed…
Classical dynamical equations describing a certain version of the nonHamiltonian interaction of two rotators (Euler tops with completely degenerate inertia tensors) are considered. The simplest case is integrated. It is shown that the…
In this paper, we propose the global quaternion full orthogonalization (Gl-QFOM) and global quaternion generalized minimum residual (Gl-QGMRES) methods, which are built upon global orthogonal and oblique projections onto a quaternion matrix…
Numerous attempts have been made to replicate the success of complex-valued algebra in engineering and science to other hypercomplex domains such as quaternions, tessarines, biquaternions, and octonions. Perhaps, none have matched the…
Solving dual quaternion equations is an important issue in many fields such as scientific computing and engineering applications. In this paper, we first introduce a new metric function for dual quaternion matrices. Then, we reformulate…
We explain the use of dual quaternions to represent poses, twists, and wrenches.
Numerical methods that preserve geometric invariants of the system, such as energy, momentum or the symplectic form, are called geometric integrators. In this paper we present a method to construct symplectic-momentum integrators for…
The classic Gauss-Lucas Theorem for complex polynomials of degree $d\ge2$ has a natural reformulation over quaternions, obtained via rotation around the real axis. We prove that such a reformulation is true only for $d=2$. We present a new…
We present a new adaptive method for electronic structure calculations based on novel fast algorithms for reduction of multivariate mixtures. In our calculations, spatial orbitals are maintained as Gaussian mixtures whose terms are selected…
Deep learning for predicting or generating 3D human pose sequences is an active research area. Previous work regresses either joint rotations or joint positions. The former strategy is prone to error accumulation along the kinematic chain,…
A methodology for deriving dual variational principles for the classical Newtonian mechanics of mass points in the presence of applied forces, interaction forces, and constraints, all with a general dependence on particle velocities and…
In this paper we generalize the technique of deflation to define two new methods to systematically find many local minima of a nonlinear least squares problem. The methods are based on the Gauss-Newton algorithm, and as such do not require…
Quantum computers have the potential to explore the vast Hilbert space of entangled states that play an important role in the behavior of strongly interacting matter. This opportunity motivates reconsidering the Hamiltonian formulation of…
This paper performs the modeling of a Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel based 3D inverted pendulum when positioned in one of its vertices. The approach novelty is that…
Systems of Newton equations of the form $\ddot{q}=-{1/2}A^{-1}(q)\nabla k$ with an integral of motion quadratic in velocities are studied. These equations generalize the potential case (when A=I, the identity matrix) and they admit a…
We present a theoretical and numerical framework to compute bifurcations of equilibria and stability of slender elastic rods. The 3D kinematics of the rod is treated in a geometrically exact way by parameterizing the position of the…