Question

Can change in position due to acceleration be expressed using dual quaternions?

Answer 1

Dual quaternions seem like an appealing way to model 6DOF motion since they linearize rotation.

I've reviewed what literature I can find on then, and found expressions for translation and change in position for constant velocity, but not for accelerating bodies.

Can change in position over time due to acceleration be expressed using dual quaternions or does the lack of a second derivative (over the dual numbers) make this impossible?

I've seen references to a more general Clifford 'Motor Algebra'? Does it solve this problem?

Edit:

I am primarily working from the paper: "3D kinematics using dual quaternions: theory and applications in neuroscience" which contains a tutorial covering screw translation and velocity using dual quaternions.

Answer 2

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I am primarily working from the paper: "

3D kinematics using dual quaternions: theory and applications in neuroscience" 

which contains a tutorial covering screw translation and velocity using dual quaternions.




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