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Lines and screws are more fundamental to velocity analysis and hence line transformations are believed to be better suited for the kinematic and static analysis of manipulators. In this article, the kinematics for serial chain manipulators using line transformations is investigated. Dual number quaternions are used as spatial transformation operators since they allow compact representation of both rotations and translations. Further, the symbolic computation of the direct and inverse kinematics equations using dual number quaternions is described.<\/jats:p>","DOI":"10.1002\/rob.4620070408","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:24:25Z","timestamp":1183717465000},"page":"649-674","source":"Crossref","is-referenced-by-count":26,"title":["Kinematics of robot manipulators via line transformations"],"prefix":"10.1002","volume":"7","author":[{"given":"Jung\u2010Ha","family":"Kim","sequence":"first","affiliation":[]},{"given":"Vijay R.","family":"Kumar","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"J.DenavitandR. 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