Generalized Dual Quaternions and Screw Motion in Generalized Space

Abstract

In this paper, we showed that the set of displacements of generalized space is a group under the composite operation. We obtained this screw axis of displacement in generalized space. Using this screw axis, we obtained Rodrigues equation in terms of spatial displacement in this space. Finally, the components of a dual generalized quaternion and the dual orthogonal matrix were obtained using Euler parameters in generalized space.

Keywords

• Generalized space
• rigid motion
• kinematics
• matrix groups

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