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A survey on the computation of quaternions from rotation matrices

Author
Sarabandi, S.; Thomas, F.
Type of activity
Journal article
Journal
Journal of mechanisms and robotics
Date of publication
2019-04-01
Volume
11
Number
2
First page
1
Last page
9
DOI
10.1115/1.4041889
Project funding
KINODYN: Kinodynamic planning of efficient and agile robot motions
RobCab: Control strategies for cable-driven robot for low-gravity simulation
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/178326 Open in new window
URL
http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2712878 Open in new window
Abstract
The parameterization of rotations is a central topic in many theoretical and applied fields such as rigid body mechanics, multibody dynamics, robotics, spacecraft attitude dynamics, navigation, 3D image processing, computer graphics, etc. Nowadays, the main alternative to the use of rotation matrices, to represent rotations in R3, is the use of Euler parameters arranged in quaternion form. Whereas the passage from a set of Euler parameters to the corresponding rotation matrix is unique and strai...
Citation
Sarabandi, S.; Thomas, F. A survey on the computation of quaternions from rotation matrices. "Journal of mechanisms and robotics", 1 Abril 2019, vol. 11, núm. 2, p. 1-9.
Keywords
Algebra, Automation, Computation, Errors, Euler parameters, Numerical accuracy, Quaternions, Rotation, Rotation matrices
Group of research
KRD - Kinematics and Robot Design

Participants