**7. Conclusions**

The presented method, based on dual-number representation, has demonstrated be a powerful tool for solving a great variety of problems, that imply motions simultaneity off rotation and translation of rigid bodies in the space; the aforementioned, allows establishing dual rotation matrices. Robotics is a field wherein dual numbers have been employed to describe the motion of a rigid body, in particular of serial robotic arms. The methodology proposed is useful for robotic arms with cylindrical, prismatic and rotational joints. Once established the dual angles ˆ and ˆ , if the dual part of ˆ is zero, the mechanism has only revolute joints, otherwise if the primary part of ˆ is zero, only exist prismatic joints. So the developed methodology can be generalized to different topologies, which is a great advantage that allows that only one program solves a great variety of topologies.

The dynamic model is treated by using the dual momentum, wherein the inertial forces are computed by means of a set of linear equations, thus a 6 *n* vector of forces is calculated, and in consequence one obtains a complete description of the robotic manipulator. An appropriate way of dual numbers programming will yield a suitable software alternative to simulate and analyze different serial robotic manipulators topologies.
