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

@article{kim:kim:shin:1996, abstract = {This paper presents a compact differential formula for the first derivative of a unit quaternion curve defined on SO(3) or S 3 . 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 curves [4, 5, 6, 7, 8] at the curve end points. Keywords: Quaternion, rotation, S 3 , SO(3), exponential, logarithm, differential, Jacobian matrix 1...}, author = {Kim, Myoung J. and Kim, Myung S. and Shin, Sung Y.}, citeulike-article-id = {1682682}, citeulike-linkout-0 = {http://citeseer.ist.psu.edu/kim96compact.html}, citeulike-linkout-1 = {http://citeseer.lcs.mit.edu/kim96compact.html}, citeulike-linkout-2 = {http://citeseer.ifi.unizh.ch/kim96compact.html}, citeulike-linkout-3 = {http://citeseer.comp.nus.edu.sg/kim96compact.html}, journal = {The Journal of Visualization and Computer Animation}, keywords = {differential, quaternion}, number = {1}, pages = {43--58 (or 43--57??)}, posted-at = {2007-09-21 15:59:59}, priority = {2}, title = {A Compact Differential Formula for the First Derivative of a Unit Quaternion Curve}, url = {http://citeseer.ist.psu.edu/kim96compact.html}, volume = {7}, year = {1996} }

TY - JOUR ID - kim:kim:shin:1996 L3 - citeulike-article-id:1682682 N2 - This paper presents a compact differential formula for the first derivative of a unit quaternion curve defined on SO(3) or S 3 . 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 curves [4, 5, 6, 7, 8] at the curve end points. Keywords: Quaternion, rotation, S 3 , SO(3), exponential, logarithm, differential, Jacobian matrix 1... IS - 1 JF - The Journal of Visualization and Computer Animation EP - 58 (or 43--57??) TI - A Compact Differential Formula for the First Derivative of a Unit Quaternion Curve VL - 7 SP - 43 KW - differential KW - quaternion AU - Kim, Myoung AU - Kim, Myung AU - Shin, Sung PY - 1996/// UR - http://citeseer.ist.psu.edu/kim96compact.html ER -