of quaternion algebra and dual numbers to the analysis of spatial mechanisms, Ph.D thesis, Columbia University. A.T. Yang (1974) "Calculus of Screws" in Basic Questions of Design Theory, William R. Spillers, editor, Elsevier, pages 266 to 281. J.M. McCarthy (1990) An Introduction to Theoretical Kinematics, pp. 62–5, MIT Press . L. Kavan, S. Collins, C. O'Sullivan, J. Zara (2006) Dual Quaternions for Rigid Transformation Blending, Technical report, Trinity College Dublin. Joe Rooney William Kingdon Clifford, Department of Design and Innovation, the Open University, London. Joe Rooney (2007) "William Kingdon Clifford", in Marco Ceccarelli, Distinguished figures in mechanism and machine science, Springer. Eduard Study (1891) "Von Bewegungen und Umlegung", Mathematische Annalen 39:520. Further reading E. Pennestri & R. Stefanelli (2007) Linear Algebra and Numerical Algorithms Using Dual Numbers, published in Multibody System Dynamics 18(3):323–349. E. Pennestri and P. P. Valentini, Dual Quaternions as a Tool for Rigid Body Motion Analysis: A Tutorial with an Application to Biomechanics, ARCHIWUM BUDOWY MASZYN, vol. 57, pp. 187–205, 2010 E. Pennestri and P. P. Valentini, Linear Dual Algebra Algorithms and their Application to Kinematics, Multibody Dynamics, October 2008, pp. 207–229, D.P. Chevallier (1996) "On the transference principle in kinematics: its various forms and limitations", Mechanism and Machine Theory 31(1):57–76. M.A. Gungor (2009) "Dual Lorentzian spherical motions and dual Euler-Savary formulas", European Journal of Mechanics A Solids 28(4):820–6. Translation in English by D.H. Delphenich. Translation in English by D.H. Delphenich. External links DQrobotics: a standalone open-source library for using dual quaternions within robot modelling and control. Machines Kinematics Quaternions