Expression of dual Euler parameters using the dual Rodrigues parameters and their application to the screw transformation (Q424016)

Summary: Dual numbers and dual vectors are widely used in spatial kinematics. Plücker line coordinates of a straight line can be represented by a dual unit vector located at the dual unit sphere (DUS). By this way, the trajectory of the screw axis of a rigid body in \(\mathbb{R}^3\) (the real three space) corresponds to a dual curve on the DUS. This correspondence is done through the Study mapping. Conversely a dual curve on DUS obtained from the rotations of the DUS represents a rigid body motion in \(\mathbb{R}^3\). The dual Euler parameters are used in defining the screw transformation in \(\mathbb{R}^3\), but originally in this paper these parameters are constructed from the Rodrigues and the dual Rodrigues parameters.