By Topic

Quaternion kinematic and dynamic differential equations

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Chou, J.C.K. ; Erik Jonsson Sch. of Eng. & Comput. Sci., Texas Univ., Dallas, Richardson, TX, USA

Many useful identities pertaining to quaternion multiplications are generalized. Among them multiplicative commutativity is the most powerful. Since quaternion space includes the 3D vector space, the physical quantities related to rotations, such as angular displacement, velocity, acceleration, and momentum, are shown to be vector quaternions, and their expressions in quaternion space are derived. These kinematic and dynamic differential equations are further shown to be invertible due to the fact that they are written in quaternion space, and the highest order term of the rotation parameters can be expressed explicitly in closed form

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 1 )