Download Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace and Virtual Reality PDF EPUB
Author: J. B. Kuipers
Pages: 400
Size: 1.040,64 Kb
Publication Date: September 8,2002
Category: Matrices
Since the Irish mathematician William Rowan Hamilton presented quaternions in the nineteenth century–a feat he celebrated by carving the founding equations right into a rock bridge–mathematicians and engineers have already been fascinated with these mathematical items. Today, they are found in applications as numerous as describing the geometry of spacetime, guiding the area Shuttle, and developing pc applications in virtual fact. In the ultimate section, Kuipers discusses state-of-the-artwork applications. B. Kuipers introduces quaternions for researchers and engineers who’ve not really encountered them before and displays how they could be used in a number of practical circumstances.
The publication is mainly an exposition of the quaternion, a 4-tuple, and its own primary program in a rotation operator. But Kuipers also presents the even more conventional and familiar 3 x 3 (9-component) matrix rotation operator. The starting chapters present introductory materials and create the book’s terminology and notation. The quantity is split into three primary parts. These parallel presentations permit the reader to guage which techniques are preferable for particular applications. The next component presents the mathematical properties of quaternions, which includes quaternion algebra and geometry.
In this reserve, J. He presents a six degree-of-freedom electromagnetic placement and orientation transducer and concludes by talking about the computer graphics essential for the advancement of applications in digital reality. It includes more complex unique topics in spherical trigonometry, along with an intro to quaternion calculus and perturbation theory, needed in many circumstances regarding dynamics and kinematics.