Linear Dual Algebra Algorithms and their Application to Kinematics

Summary. Mathematical and mechanical entities such as line vectors, screws and wrenches can be conveniently represented within the framework of dual algebra. Despite the applications received by this type of algebra, less developed appear the numerical linear algebra algorithms within the field of dual numbers. In this paper will be summarized different basic algorithms for handling vectors and matrices of dual numbers. It will be proposed an original application to finite and infinitesimal rigid body motion analysis.

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