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		<identifier>oai:zbc.uz.zgora.pl:86118</identifier>
	    <datestamp>2025-07-16T12:17:05Z</datestamp>
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<dc:title xml:lang="pl"><![CDATA[Solution of an inverse kinematics problem using dual quaternions]]></dc:title>
<dc:creator><![CDATA[Chen, Lei]]></dc:creator>
<dc:creator><![CDATA[Zielińska, Teresa]]></dc:creator>
<dc:creator><![CDATA[Wang, Jikun]]></dc:creator>
<dc:creator><![CDATA[Ge, Weimin]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[dual quaternions]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[kinematics]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[simulation]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[robotics]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[screw theory]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[The paper proposes a solution to an inverse kinematics problem based on dual quaternions algebra. The method, relying on screw theory, requires less calculation effort compared with commonly used approaches. The obtained kinematic description is very concise, and the singularity problem is avoided. The dual quaternions formalism is applied to the problem decomposition and description. As an example, the kinematics problem of a multi-DOF serial manipulator is considered. Direct and inverse kinematics problems are solved using division into sub-problems. Each new sub-problem proposed is concerned with rotation about two subsequent axes by a given amount. The presented example verifies the correctness and feasibility of the proposed approach.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Korbicz, Józef (1951- ) - red.]]></dc:contributor>
<dc:contributor><![CDATA[Uciński, Dariusz - red.]]></dc:contributor>
<dc:date><![CDATA[2020]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/86118/AMCS_2020_30_2_12.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/101170/edition/86118/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:86118]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 30, number 2 (2020)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=116]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:101170]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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