Schilling, Malte: Universally manipulable body models – dual quaternion representations in layered and dynamic MMCs. In: Autonomous Robots. Jg.30 H. 4. 2011, S. 399-425
Inhalt
- Classical MMC approach
- Three-dimensional arm example using dual quaternions
- Convergence of the dual quaternion MMC network
- Control of a human-arm like configuration including velocity equations
- Discussion
- Acknowledgements
- Appendix A: Dual quaternions
- Appendix B: Computation of the mean: quaternion interpolation
- Appendix C: Compensation of displacements in rotational joints
- References