Dual quaternion toolbox
The toolbox provides functions to (see the related journal article: http://www.frontiersin.org/Behavioral_Neuroscience/10.3389/fnbeh.2013.00007/abstract) :
- encode dual quaternions: a point position, velocity, a line position, velocity, a rotation, a translation, a screw,...
- do operations on dual quaternions: the dual quaternion multiplication, the dual quaternion conjugates, the inverse,...
- retrieve parameters from a dual quaternion: finding the parameters of a rotation dual quaternion, or a screw dual quaternion,...
- easily going back and forth between Fick rotation coordinates, 3*3 rotation matrices, rotation dual quaternions, angular vector
- find the shortest rotation between two unitary vectors
- find the shortest screw motion between two lines (it answers if two lines intersect, and if relevant, what the intersection point is)
The toolbox also provides one example file (example_forward_kinematics.m) (see also the file "html/example_forward_kinematics.html"). This
example describes the forward kinematics of the end-effector of a two- or three-link arm in 3D space. The user can choose between two methods
(alternating rotation and translation dual quaternions, or using screw motion dual quaternions) to encode the forward kinematics: the results are
identical, whatever the method which is used. Furthermore, for the three-link arm, the orientation of the end-effector is also taken into account
(via line transformations).
For each of these methods and example, the user will find an extensive documentation by typing HELP NAME_OF_THE_FUNCTION in the MATLAB environment
引用格式
Guillaume Leclercq (2024). Dual quaternion toolbox (https://www.mathworks.com/matlabcentral/fileexchange/39288-dual-quaternion-toolbox), MATLAB Central File Exchange. 检索来源 .
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- Sciences > Neuroscience > Behavior and Psychophysics >
- Robotics and Autonomous Systems > Robotics System Toolbox > Coordinate Transformations >
- Aerospace > Aerospace Toolbox > Standard Workflow Procedures > Coordinate Systems > Quaternion Math >
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版本 | 已发布 | 发行说明 | |
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1.3.0.0 | function rotMatrix2dquat updated, such that it deals with 180 deg rotations and implements the method described in https://www.researchgate.net/publication/3298038_On_homogeneous_transforms_quaternions_and_computationalefficiency |
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1.2.0.0 | I modified the following files:
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1.1.0.0 | I provided the link (in the description) towards the journal publication linked to these methods. |
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1.0.0.0 |