The dual quaternion plays an advantageous role in the field of robotic kinematics and
dynamics due to its compact expression. It is well known that quaternion can be easily …

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 …

In the functioning of the hand–eye collaboration of an apple picking robot, the accuracy of
the hand–eye relationship is a key factor affecting the efficiency and accuracy of the robot's …

Hand–eye calibration is a typical research direction in robotics applications. The current
methods can be divided into two categories according to whether the rotational and …

In order to solve the problem of noise interference in camera calibration and robot forward
kinematics solution, this study proposes a dual quaternion hand-eye calibration algorithm …

Principle of transference is very important in the kinematic analysis of spatial mechanisms,
which enables the extension of point transformations to line transformations inbuilt with the …

In this study, we introduce a novel shared-control system for key-hole docking operations,
combining a commercial camera with occlusion-robust pose estimation and a hand-eye …

This paper presents a modified model for hand–eye calibration based on dual quaternion
algebra. By using dual quaternions to represent the rotations and translations of a rigid body …

Base coordinate calibration is a key issue for a robot to complete a task in the same
coordinate system, especially in industrial operations. In order to solve the orthogonality …