Group theoretical approaches to vector parameterization of rotations

MaRDI QIDQ608036zbMATH OpenFDO

Authors Andreas Müller

Publication date 8 December 2010

Published in Journal of Geometry and Symmetry in Physics (Search for Journal in Brave)

Full work available at URL https://projecteuclid.org/euclid.jgsp/1495677870

zbMATH Keywords

angular velocity and accelerationcomputational aspectscovering group SU(2)group SO(3)representations of rotations using canonical coordinatesvector parameterization based on Cayley transformations

Mathematics Subject Classification ID

Motion of a rigid body with a fixed point (70E17) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

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(16)

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• The vectorial parameterization of rotation
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• Algorithms to solve absolute orientation problem for GL(3), O(3), and SO(3) groups
• Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations
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• Time integration of rigid bodies modelled with three rotation parameters
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