Rank: 3251 based on 38 downloads (last 30 days) and 2 files submitted
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Hanfucius

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Company/University
Shandong University

Personal Profile:

Matlaber

Professional Interests:
Robotics Mathematics

 

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24 Mar 2014 Screenshot Screw Theory Toolbox screw theory is used to deduct the kinematics of a serial robot Author: Hanfucius screw, kinematics, toolbox 20 0
10 Mar 2014 Screenshot DUAL QUATERNION SYMBOLIC TOOLBOX can be used for formula deduction represented by dual quaternion algebra Author: Hanfucius dual, quaternion, symbolic, toolbox 18 0
Comments and Ratings by Hanfucius View all
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18 Feb 2014 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Author: Guillaume Leclercq

Thanks for your splendid reply~
I did not get direct answer in your paper and thus got confused.
Surely I've read many geometric algebra books and I know that quaternion is isomorphic to G+3,0,0 and i,j,k is indeed another representation 2-blade bases of this geometric algebra. However,never did I paid attention to handedness of the coordinates.
Though we use the same mathematical tool,we use different mathematical conventions in your bio science and my robotics. I think this is the reason why gap happens.
Thanks again for your reply!

13 Feb 2014 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Author: Guillaume Leclercq

I think you have made a mistake.
In function Qmult,line 49,I refered many books,

sv = repmat(r0,3,1).*qv+repmat(q0,3,1).*rv-cross(qv,rv);

should be

sv = repmat(r0,3,1).*qv+repmat(q0,3,1).*rv+cross(qv,rv);

21 Jan 2014 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Author: Guillaume Leclercq

Sorry to have done such stupid things as modify your code and redistribute it. I have delete all of them.

06 Sep 2013 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Author: Guillaume Leclercq

In kinematics example file, why the total transformation is multiplied in reverse order?
Also why DQconj comes first?
S_tot = DQmult(R_LU,T_ES,R_UB);
P_BS_dq = DQmult(DQconj(S_tot),P_LE_dq,S_tot);

I tried this :
S_tot = DQmult(R_UB,T_ES,R_LU);
P_BS_dq = DQmult(S_tot,P_LE_dq,DQconj(S_tot));
But the answer is different.

05 Sep 2013 Toolbox kinematics This toolbox deals with basic concepts in kinematics and special interpolation algorithms. Author: Daniel Klawitter

You've done a great work!

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