Dual Quaternions and Their Associated Clifford Algebras

Book excerpt: Provides an extensive rigorous treatment of dual quaternions, collecting in one place the main formulas and theorems. Presents two models of Clifford algebra associated to the dual quaternions. Shows how these two Clifford algebras both emerge naturally from the theory of dual quaternions. Easily accessible to anyone with a basic knowledge of quaternion algebra. Provides exercises after each section to help readers practice and sharpen their knowledge of what they have read.