This fully revised fifth edition provides comprehensive coverage of flexible multibody system
dynamics. Including an entirely new chapter on the integration of geometry, durability …

Multibody systems are the appropriate models for predicting and evaluating performance of
a variety of dynamical systems such as spacecraft, vehicles, mechanisms, robots or …

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 …

It is shown in this paper that Euler was first to derive the finite rotation formula which is often
erroneously attributed to Rodrigues, while Rodrigues was responsible for the derivation of …

Dual-number-quaternions are used frequently in spatial screw motion of a rigid body. In this
paper, two Hamilton operators are defined and the algebra of dual-number-quaterinions is …

With the aim of representing physical rigid body motions, this article deals with the Euclidean
displacement operators. Remaining as elementary as possible, an intrinsic mathematical …

Our aim is to give a complete presentation of the application of Lie Group Theory to the
structural design of manipulator robots. We focused our attention on parallel manipulator …

Does a machine run well by virtue of its accuracies, or its freedoms? This work presents an
exciting, diagrammatic display of the hidden geometry of freedom and constraint. It bolsters …

A systematic coordinate-free exposition of the different algebraic operations in the set of
infinitesimal displacements (screws) and their relations with finite displacements is …

This work explores dual quaternions and their applications. First, a theoretical construction
begins at dual numbers, extends to dual vectors, and culminates in dual quaternions. The …