Photo from wikipedia
Abstract' This paper introduces for the first time, the Lagrange's dynamic equations in dual number quaternion form. Additionally, Rayleigh's dissipation function in dual quaternion form is introduced here allowing for… Click to show full abstract
Abstract' This paper introduces for the first time, the Lagrange's dynamic equations in dual number quaternion form. Additionally, Rayleigh's dissipation function in dual quaternion form is introduced here allowing for the accounting of dissipative (non-conservative) forces such as motion through a viscous fluid, friction, and spring damping force. As an example, dual quaternions are used here to derive the Lagrange dynamic equations of a robot manipulator.
Keywords:
dual quaternions;
equations dual;
representation lagrange;
dynamic equations;
lagrange dynamic;
quaternions representation
Journal Title: Journal of Mechanisms and Robotics
Year Published: 2023
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!
Journal Title: Journal of Mechanisms and Robotics
Year Published: 2023
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!