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Accurate computation of quaternions from rotation matrices

Author
Sarabandi, S.; Thomas, F.
Type of activity
Presentation of work at congresses
Name of edition
ARK 2018 - 16th International Symposium on Advances in Robot Kinematics
Date of publication
2018
Presentation's date
2018
Book of congress proceedings
Vol 8 of Springer Proceedings in Advanced Robotics
First page
39
Last page
46
Publisher
Springer International Publishing
DOI
https://doi.org/10.1007/978-3-319-93188-3_5 Open in new window
Project funding
RobCab: Control strategies for cable-driven robot for low-gravity simulation
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/124384 Open in new window
URL
https://link.springer.com/chapter/10.1007%2F978-3-319-93188-3_5 Open in new window
Abstract
The final publication is available at link.springer.com The main non-singular alternative to 3×3 proper orthogonal matrices, for representing rotations in R3, is quaternions. Thus, it is important to have reliable methods to pass from one representation to the other. While passing from a quaternion to the corresponding rotation matrix is given by Euler-Rodrigues formula, the other way round can be performed in many different ways. Although all of them are algebraically equivalent, their numeric...
Citation
Sarabandi, S., Thomas, F. Accurate computation of quaternions from rotation matrices. A: International Conference on Advances in Robot Kinematics. "Vol 8 of Springer Proceedings in Advanced Robotics". Springer International Publishing, 2018, p. 39-46.
Keywords
Quaternions, Rotation matrices, optimisation
Group of research
KRD - Kinematics and Robot Design

Participants