山西大学学报（自然科学版）2024，Vol.47Issue(2)：287-294,8.DOI:10.13451/j.sxu.ns.2023060
对偶四元数和四元分裂四元数的代数性质
Algebraic Properties on Dual Quaternion and Quaternion Split Quaternion
摘要
Abstract
Dual quaternion and split quaternion are powerful tools to deal with rigid body spiral motion and attitude control.By using Clifford's concept of dual numbers and with the help of 4×4 primitive complex matrix,the definitions of dual quaternion and split quaternion in matrix form are given,and the algebraic properties such as adjoint matrix,inverse matrix,determinant of dual quaterni-on matrix and split quaternion matrix are obtained.At the same time,their important differences in the definition of inner product,expressions of conjugation and norm,and determinant operations of product are pointed out.关键词
四元数/对偶四元数/四元分裂四元数/代数性质Key words
quaternion/dual quaternion/quaternion split quaternion/algebraic property分类
数理科学引用本文复制引用
邓勇..对偶四元数和四元分裂四元数的代数性质[J].山西大学学报（自然科学版）,2024,47(2):287-294,8.基金项目
国家自然科学基金(11201411) （11201411）
