The Dual Rodrigues Parameters

Abstract

The development of Rodrigues parameters in the first half of 19th century has attracted much attention in the field of theoretical kinematics. The importance of the Rodrigues formulae depends on the use of the tangent of the half rotation angle being integrated with the components of the rotation axis. In this paper Rodrigues parameters of the dual spherical motion are obtained, which are called the dual Rodrigues parameters. The dual Rodrigues parameters contain the rotation angle and the distance parameter of the straight lines (the shortest distance between the straight lines) of the corresponding spatial motion

Keywords

• Study mapping, Dual spherical motion, Rotation angle, Dual Rodrigues parameters

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