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• DUAL QUATERNION SYNTHESIS OF CONSTRAINED ROBOTS Alba Perez Robotics and Automation Laboratory, University of California, Irvine Irvine, CA 92697 [email protected] J. Michael McCarthy Robotics and Automation Laboratory, University of California, Irvine Irvine, CA 92697 [email protected] Bruce Bennett Department of Mathematics, University of California, Irvine Irvine, CA 92697 [email protected]

DUAL QUATERNION SYNTHESIS OF CONSTRAINED ROBOTS Alba Perez Robotics and Automation Laboratory, University of California, Irvine Irvine, CA 92697 [email protected] J. Michael McCarthy Robotics and Automation Laboratory, University of California, Irvine Irvine, CA 92697 [email protected] Bruce Bennett Department of Mathematics, University of California, Irvine Irvine, CA 92697 [email protected]

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