Lawrence Fallon, ///

The quaternion representation of rigid body rotations leads to convenient kinematicai expressions involving the Euler symmetric parameters (Sections 12.1 and 16.1). Some important properties of quaternions are summarized in this appendix following the formulation of Hamilton [1866] and Whittaker [1961],

Let the four parameters form the components of the quaternion, q, as follows:

where i,j, and k are the hyperimaginary numbers satisfying the conditions

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