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DUAL QUATERNION SYMBOLIC TOOLBOX

version 1.4 (38.3 KB) by

can be used for formula deduction represented by dual quaternion algebra

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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

Comments and Ratings (1)

jiuyue wang

hi can you tell me where is the simple function?

Updates

1.4

An example dealing with velocity analysis is added.

1.3

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

1.2

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

1.1

A new logo was updated.

MATLAB Release
MATLAB 7.12 (R2011a)
Acknowledgements

Inspired by: Dual quaternion toolbox

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