This article is cited in 5 papers

Quaternion algebra in rigid body kinematics

Yu. F. Golubev


Abstract: The laconic substantiation of the description for isometries of the three dimensional Euclidean space by means of quaternions is presented. Methods for calculation of quaternions directly on giving image and object of rigid body points during its motion are developed. The set of quaternions corresponding to regular precessions is picked out. Features of kinematics equations for quaternions are analyzed. Some theoretical developments are illustrated by specific examples.

Keywords: kinematics, quaternion, kinematic equations, regular precession.