{"title":"基于双四元数的高阶Cayley映射的刚体位移和运动最小参数化","authors":"Daniel Condurache, Ionuț Popa","doi":"10.3390/sym15112011","DOIUrl":null,"url":null,"abstract":"The rigid body displacement mathematical model is a Lie group of the special Euclidean group SE (3). This article is about the Lie algebra se (3) group. The standard exponential map from se (3) onto SE (3) is a natural parameterization of these displacements. In technical applications, a crucial problem is the vector minimal parameterization of manifold SE (3). This paper presents a unitary variant of a general class of such vector parameterizations. In recent years, dual algebra has become a comprehensive framework for analyzing and computing the characteristics of rigid-body movements and displacements. Based on higher-order fractional Cayley transforms for dual quaternions, higher-order Rodrigues dual vectors and multiple vectorial parameters (extended by rotational cases) were computed. For the rigid body movement description, a dual tangent operator (for any vectorial minimal parameterization) was computed. This paper presents a unitary method for the initial value problem of the dual kinematic equation.","PeriodicalId":48874,"journal":{"name":"Symmetry-Basel","volume":null,"pages":null},"PeriodicalIF":2.2000,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Minimal Parameterization of Rigid Body Displacement and Motion Using a Higher-Order Cayley Map by Dual Quaternions\",\"authors\":\"Daniel Condurache, Ionuț Popa\",\"doi\":\"10.3390/sym15112011\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The rigid body displacement mathematical model is a Lie group of the special Euclidean group SE (3). This article is about the Lie algebra se (3) group. The standard exponential map from se (3) onto SE (3) is a natural parameterization of these displacements. In technical applications, a crucial problem is the vector minimal parameterization of manifold SE (3). This paper presents a unitary variant of a general class of such vector parameterizations. In recent years, dual algebra has become a comprehensive framework for analyzing and computing the characteristics of rigid-body movements and displacements. Based on higher-order fractional Cayley transforms for dual quaternions, higher-order Rodrigues dual vectors and multiple vectorial parameters (extended by rotational cases) were computed. For the rigid body movement description, a dual tangent operator (for any vectorial minimal parameterization) was computed. This paper presents a unitary method for the initial value problem of the dual kinematic equation.\",\"PeriodicalId\":48874,\"journal\":{\"name\":\"Symmetry-Basel\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":2.2000,\"publicationDate\":\"2023-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Symmetry-Basel\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3390/sym15112011\",\"RegionNum\":3,\"RegionCategory\":\"综合性期刊\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"MULTIDISCIPLINARY SCIENCES\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Symmetry-Basel","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3390/sym15112011","RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"MULTIDISCIPLINARY SCIENCES","Score":null,"Total":0}
A Minimal Parameterization of Rigid Body Displacement and Motion Using a Higher-Order Cayley Map by Dual Quaternions
The rigid body displacement mathematical model is a Lie group of the special Euclidean group SE (3). This article is about the Lie algebra se (3) group. The standard exponential map from se (3) onto SE (3) is a natural parameterization of these displacements. In technical applications, a crucial problem is the vector minimal parameterization of manifold SE (3). This paper presents a unitary variant of a general class of such vector parameterizations. In recent years, dual algebra has become a comprehensive framework for analyzing and computing the characteristics of rigid-body movements and displacements. Based on higher-order fractional Cayley transforms for dual quaternions, higher-order Rodrigues dual vectors and multiple vectorial parameters (extended by rotational cases) were computed. For the rigid body movement description, a dual tangent operator (for any vectorial minimal parameterization) was computed. This paper presents a unitary method for the initial value problem of the dual kinematic equation.
期刊介绍:
Symmetry (ISSN 2073-8994), an international and interdisciplinary scientific journal, publishes reviews, regular research papers and short notes. Our aim is to encourage scientists to publish their experimental and theoretical research in as much detail as possible. There is no restriction on the length of the papers. Full experimental and/or methodical details must be provided, so that results can be reproduced.