Skip to Main content Skip to Navigation
Journal articles

The cross-motion invariant group and its application to kinematics

Bruno Vilhena Adorno 1 Philippe Fraisse 2 
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This article presents the cross-motion invariant group—CMI(3)—whose group operation is defined over unit dual quaternions such that rigid motions are cross-motion invariant; that is, the resultant translation does not depend on rotation and vice-versa. We present the main properties of CMI(3) and the differences between this group and the standard group Spin(3) R 3 of unit dual quaternions, as well as the kinematic equations under a sequence of CMI(3) operations. Two numerical examples are presented in order to illustrate the main characteristics of CMI(3).
Document type :
Journal articles
Complete list of metadata

Cited literature [14 references]  Display  Hide  Download
Contributor : Philippe Fraisse Connect in order to contact the contributor
Submitted on : Monday, November 14, 2016 - 4:56:51 PM
Last modification on : Friday, August 5, 2022 - 3:02:26 PM


IMA J Math Control Info-2016-A...
Files produced by the author(s)




Bruno Vilhena Adorno, Philippe Fraisse. The cross-motion invariant group and its application to kinematics. IMA Journal of Mathematical Control and Information, Oxford University Press (OUP), 2017, 34 (4), pp.1359-1378. ⟨10.1093/imamci/dnw032⟩. ⟨lirmm-01396641⟩



Record views


Files downloads