Mahmoud Gouasmi  , Mohammed Ouali  , Mustapha Rahmani  , 
    Methodological and Comparative Study of Techniques for the Description of the Movement of Multibody Systems (mbs),
    Journal of Engineering and Applied Sciences,
    Volume 3,Issue 12,
    2008,
    Pages 905-910,
    ISSN 1816-949x,
    jeasci.2008.905.910,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2008.905.910)
    Abstract: Our research, with its rather educational and peadagogical character, consists at first; in defining the 3 main methods used for the description of the motion of multibody systems to be known: the angles, the orthogonal and homogeneous matrices (SO3) as well as the quaternions, then to use them (numerical application) for the kinematic study of a manipulator (robot) of 6 degrees of freedom and finally to analyze and to compare the found results. This comparative study will allow us to demystify the Lie groups and Lie algebra as for their use in Mechanics and Robotics and especially to demystify and to popularize the use of quaternions in the same optics.
    Keywords: Robotics;euler angles;Lie groups and Lie algebra;(SO3);quaternions;dual quaternions