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Universally manipulable body models – dual quaternion representations in layered[...]
Classical MMC approach
Dual quaternion MMCs
Construction of the multiple equations-describing the forward kinematics
Classical MMC approach
Dual quaternion MMCs
Construction of the multiple equations-describing the forward kinematics
MMCs containing dynamic equations
Realisation in neural networks
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
Quaternions
Dual quaternions
Appendix B: Computation of the mean: quaternion interpolation
Appendix C: Compensation of displacements in rotational joints
References
Aufsatz in einer Zeitschrift
Universally manipulable body models – dual quaternion representations in layered and dynamic MMCs
Entstehung
2011
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