Iterative solution of Helmert transformation based on a unit dual quaternion
Sign Up to like & getrecommendations! Published in 2018 at "Acta Geodaetica et Geophysica"
DOI: 10.1007/s40328-018-0241-0
Abstract: The rigid motion involving both rotation and translation in the 3D space can be simultaneously described by a unit dual quaternion. Considering this excellent property, the paper constructs the Helmert transformation (seven-parameter similarity transformation) model… read more here.
Keywords: quaternion; helmert transformation; dual quaternion; transformation ... See more keywords
Robust Torque-Computed Control for a Robot Manipulator With Unit Dual Quaternion
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2025.3552269
Abstract: The six degrees-of-freedom (DoFs) nonsingular pose tracking is the prerequisite for the smooth task executions in many robot-assisted medical scenarios, such as laparoscopic surgery and sonography. This work develops a robust position/orientation tracking controller for… read more here.
Keywords: unit dual; dual quaternion; robot manipulator;