# How can I compute a Jacobian matrix with dual quaternions? [closed]

I'm trying to understand an inverse kinematics algorithm realized with dual quaternions as presented here.

My Jacobian matrix, however, seems to be calculated wrong. Could somebody explain, step-by-step, how I would compute a Jacobian matrix with dual quaternions so that I can check my implementation?

I've read dozens of papers that cover dual quaternions but it's all theory. I'd love to see is an example (e.g. for a single one-, or two-linked chain).

• So it boils down to apply the procedure given in appendix B, section B, figure 8 on page 65 of your cited paper to some problem e = f(w_1, w_2) for two joins w_1 and w_2.
– mvw
Apr 25, 2014 at 12:37
• Sorry, I solved this weeks ago! Wasn't aware of this question would still be alive...thank you very much! Apr 27, 2014 at 10:33
• Hummingbird, could you close the question then? Thanks! Apr 27, 2014 at 18:48
• @Hummingbird You could answer it. :) Apr 29, 2014 at 13:53
• +1 for answering it for the rest of us, it's only polite not to leave us hanging! May 4, 2014 at 13:48