相关论文: Derivation of the Euler-Rodrigues formula for thre…

Quaternions are important for a wide variety of rotation-related problems in computer graphics, machine vision, and robotics. We study the nontrivial geometry of the relationship between quaternions and rotation matrices by exploiting the…

We show that the discrete complex, and numerous hypercomplex, Fourier transforms defined and used so far by a number of researchers can be unified into a single framework based on a matrix exponential version of Euler's formula…

We consider the classical three-body problem with an arbitrary pair potential which depends on the inter-body distance. A general three-body configuration is set by three "radial" and three angular variables, which determine the shape and…

The algebra of fourvectors is described. The fourvectors are more appropriate than the Hamilton quaternions for its use in Physics and the sciences in general. The fourvectors embrace the 3D vectors in a natural form. It is shown the…

We report the simplest possible form to compute rotations around arbitrary axis and boosts in arbitrary directions for 4-vectors (space-time points, energy-momentum) and bi-vectors (electric and magnetic field vectors) by symplectic…

The geometry of rotations in dimensions 3, 4, and 5 is discussed using the matrix exponential map. Explicit closed formulas for the exponential of an antisymmetric matrix, as well as the logarithm of a rotation, are given for these…

This article introduces yet another representation of rotations in 3-space. The rotations form a 3-dimensional projective space, which fact has not been exploited in Computer Science. We use the four affine patches of this projective space…

We give a simple and self contained introduction to quaternions and their practical usage in dynamics. The rigid body dynamics are presented in full details. In the appendix, some more exotic relations are given that allow to write more…

Numerous attempts have been made to replicate the success of complex-valued algebra in engineering and science to other hypercomplex domains such as quaternions, tessarines, biquaternions, and octonions. Perhaps, none have matched the…

The ``$D$'' matrices for all states of the two fundamental representations and octet are shown in the generalized Euler angle parameterization. The raising and lowering operators are given in terms of linear combinations of the left…

As an expansion of complex numbers, the quaternions show close relations to numerous physically fundamental concepts. In spite of that, the didactic potential provided by quaternion interrelationships in formulating physical laws are hardly…

Symmetry plays a vital role in understanding structural patterns, aiding object recognition and scene interpretation. This paper focuses on rotation symmetry, where objects remain unchanged when rotated around a central axis, requiring…

Dual quaternions can represent rigid body motion in 3D spaces, and have found wide applications in robotics, 3D motion modelling and control, and computer graphics. In this paper, we introduce three different right linear independency for a…

This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Euler formulation and uses twists and wrenches, which are…

The explicit matrix realizations of the reversion anti-automorphism and the spin group depend on the set of matrices chosen to represent a basis of 1 -vectors for a given Clifford algebra. On the other hand, there are iterative procedures…

This paper performs the modeling of a Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel based 3D inverted pendulum when positioned in one of its vertices. The approach novelty is that…

Just like the well-established Euler angles representation, fused angles are a convenient parameterisation for rotations in three-dimensional Euclidean space. They were developed in the context of balancing bodies, most specifically walking…

We find the twisted extensions of the symmetry algebra of the 2D Euler equation in the vorticity form and use them to construct new Lax representation for this equation. Then we generalize this result by considering the transformation…

Weingarten surfaces are those whose principal curvatures satisfy a functional relation, whose set of solutions is called the curvature diagram or the W-diagram of the surface. Making use of the notion of geometric linear momentum of a plane…

The Euler top describes a free rotation of a rigid body about its center of mass and provides an important example of a completely integrable system. A salient feature of its first integrals is that, up to a reparametrization of time, they…