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DUAL QUATERNION SYMBOLIC TOOLBOX

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DUAL QUATERNION SYMBOLIC TOOLBOX

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17 Feb 2014 (Updated )

can be used for formula deduction represented by dual quaternion algebra

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Description

Major work was done by by Guillaume Leclercq on http://www.mathworks.cn/matlabcentral/fileexchange/39288-dual-quaternion-toolbox
This is a modification of his dual quaternion toolbox.
* The toolbox provides many methods (functions) to facilitate dual quaternion symbolic computing:
   - encode dual quaternions: a point position, a line position, 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 3*3 rotation matrices, rotation dual quaternions, angular vector

Acknowledgements

Dual Quaternion Toolbox inspired this file.

Required Products MATLAB
MATLAB release MATLAB 7.12 (R2011a)
Other requirements None
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Updates
17 Feb 2014

A new logo was updated.

17 Feb 2014

An example dealing with 4-DOF robot leg kinematics deduction is added.

18 Feb 2014

A new example dealing with the direction of the 4-DOF leg is added.

10 Mar 2014

An example dealing with velocity analysis is added.

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