Dapeng Han Qing Wei 0002 Zexiang Li A Dual-quaternion Method for Control of Spatial Rigid Body. 1-6 2008 ICNSC http://dx.doi.org/10.1109/ICNSC.2008.4525172 conf/icnsc/2008 db/conf/icnsc/icnsc2008.html#Han0L08