Dual quaternions as a tool for rigid body motion analysis: a tutorial with an application to biomechanics

• Autorzy: Pennestri E. , Valentini P. P.

Warianty tytułu

PL

Kwaterniony dualne jako narzędzie analizy ruchu ciał sztywnych. Przykład zastosowań w biomechanice

• Języki publikacji: EN

Abstrakty

EN

Dual quaternions and dual quaternion interpolation are powerful mathematical tools for the spatial analysis of rigid body motions. In this paper, after a review of some basic results and formulas, it will be presented an attempt to use these tools for the kinematic modeling of human joints. In particular, the kinematic parameters extracted from experimentally acquired data are compared with those theoretically computed from dual quaternions rigid body motion interpolation.

PL

Kwaterniony dualne i interpolacja z użyciem kwaternionów dualnych stanowią silne narzędzia matematyczne wykorzystywane do analizy ruchu przestrzennego ciał sztywnych. W artykule przedstawiono przegląd podstawowych wzorów i wyników, a następnie zaprezentowano próbę użycia tych narzędzi do modelowania kinematyki stawów w ciele człowieka. W szczególności, parametry kinematyczne wyznaczone na podstawie danych eksperymentalnych porównano z wyliczonymi teoretycznie na podstawie interpolacji ruchu ciał sztywnych z użyciem kwaternionów dualnych.

Słowa kluczowe

EN

biomechanics; dual quaternion interpolation; human motion

PL

biomechanika; interpolacja z użyciem kwaternionów dualnych; ruch człowieka

• Wydawca: Komitet Budowy Maszyn PAN
• Czasopismo: Archive of Mechanical Engineering
• Rocznik: 2010
• Tom: Vol. LVII, nr 2
• Strony: 187--205
• Opis fizyczny: Bibliogr. 18 poz., fot., rys.

Twórcy

autor

Pennestri E.

autor

Valentini P. P.

• Dipartimento di Ingegneria Meccanica Universita Roma Tor Vergata via del Politecnico, 1, 00133 Roma, Italy,

Bibliografia

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