Conformal rotation vector

The conformal rotation vector, whose coordinates are also known as modified Rodrigues parameters or Wiener–Milenkovic parameters, is a three-dimensional vector representing a three-dimensional rotation or orientation. It is the stereographic projection of a versor (unit quaternion) onto the pure-imaginary hyperplane. It was first described by Thomas Wiener (1962),[1] called the conformal rotation vector by Veljko Milenkovic (1982),[2] and named the modified Rodrigues vector by Malcolm Shuster (1993).[3] It is related to the Rodrigues vector first described by Olinde Rodrigues (1840) and called by Josiah Gibbs (1884) the vector semitangent of version.

Notes

  1. ^ Wiener 1962.
  2. ^ Milenkovic 1982.
  3. ^ Shuster 1993.

References

  • Milenkovic, Veljko (1982), "Coordinates Suitable for Angular Motion Synthesis in Robots", Robots VI: Conference Proceedings, Robots VI, Detroit, Michigan, 2–4 March 1982, Society of Manufacturing Engineers, pp. 407–420
  • Shuster, Malcolm D. (1993), "A Survey of Attitude Representations" (PDF), The Journal of the Astronautical Sciences, 41 (4): 439–517
  • Wiener, Thomas Freud (1962), Theoretical Analysis of Gimballess Inertial Reference Equipment Using Delta-Modulated Instruments (Ph.D. thesis), Massachusetts Institute of Technology, hdl:1721.1/14454

Further reading


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