Algebraic Properties on Dual Quaternion and Quaternion Split Quaternion
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.
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