Projective view on motion groups I: Kinematics and relativity (Q2422752)

The present paper summarizes the author understanding of Euclidean low dimensional motion groups starting with \(\operatorname{SO}(3)\) which are unified via projective construction that covers also the Galilean and Lorentzian settings. The interplay between vectors of finite rotations, dual angles, dual vectors, quaternions and screw theory is presented and the basic relations of the rigid body kinematics and dynamics are discussed since these relations are quite important in applied fields such as attitude control and inertial navigation, robotics, computer animation and vision, and etc.