Multibody System Dynamics

, Volume 18, Issue 3, pp 323–344 | Cite as

Linear algebra and numerical algorithms using dual numbers

  • E. PennestrìEmail author
  • R. Stefanelli


Dual number algebra is a powerful mathematical tool for the kinematic and dynamic analysis of spatial mechanisms. With the purpose of exploiting new applications, in this paper are presented the dual version of some classical linear algebra algorithms. These algorithms have been tested for the position analysis of the RCCC mechanism and computational improvements over existing methods obtained.


Dual numbers Kinematics and dynamics of spatial linkages 


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© Springer Science+Business Media B.V. 2007

Authors and Affiliations

  1. 1.Dipartimento di Ingegneria MeccanicaUniversità di Roma tor VergataRomaItaly

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