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A Compact Differential Formula for the First Derivative of a Unit Quaternion Curve

✍ Scribed by KIM, MYOUNG-JUN ;KIM, MYUNG-SOO ;SHIN, SUNG YONG

Publisher
John Wiley and Sons
Year
1996
Tongue
English
Weight
671 KB
Volume
7
Category
Article
ISSN
1049-8907

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✦ Synopsis

This paper presents a compact differential formula for the first derivative of a unit quaternion curve defined on SO(3) or S3. The formula provides a convenient way to compute the angular velocity of a rotating 3D solid. We demonstrate the effectiveness of this formula by deriving the differential properties of various unit quaternion at the curve end points.

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