Some alternatives of the Rodrigues axis-angle formula

MaRDI QIDQ2822188zbMATH OpenFDO

Authors Veliko D. Donchev, Clementina Mladenova, Ivaïlo Mladenov

Publication date 27 September 2016

Published in Doklady Bolgarskoĭ Akademii Nauk (Search for Journal in Brave)

zbMATH Keywords

Cayley mapRodrigues formulavector-parametrization

Mathematics Subject Classification ID

General properties and structure of real Lie groups (22E15) Geometry of classical groups (51N30) Finite-dimensional groups and algebras motivated by physics and their representations (81R05)

Review text

In this paper an alternative formula of the classical Rodrigues representation is obtained. In the geometrical interpretation, the rotation is generated by two angles presenting the spherical coordinates on the unit sphere and a positive real parameter, namely \(\mathbf{R}(\alpha, \beta, \gamma)\). The authors generalized it and the rotations can be viewed as normal vectors \(\mathcal{A} \) to some surface in \(\mathbb R^3\) with a fixed length. In Theorem 1 the parametrization and the corresponding composition laws are obtained via Cayley map. Moreover, the relationships between the novel parametrization, the classical Rodrigues representation on the extended \(so(3,\mathbb R)\) vector-parametrization are obtained.

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