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)⋉ℝ3 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).
|Number of pages||20|
|Journal||IMA Journal of Mathematical Control and Information|
|Early online date||11 Jul 2016|
|Publication status||Published - 1 Dec 2017|
- cross-motion invariance
- rigid motion
- unit dual quaternion