Modified Gibbs's representation of rotation matrix
Abstract
A modified Gibbs's rotation matrix is derived and the connection with the Euler angles, quaternions, and Cayley$-$Klein parameters is established. As particular cases, the Rodrigues and Gibbs parameterizations of the rotation are obtained. The composition law of two rotations from the quaternion representation is presented showing a convenient expression for calculating the successive rotations.
- Publication:
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arXiv e-prints
- Pub Date:
- February 2017
- DOI:
- 10.48550/arXiv.1703.00300
- arXiv:
- arXiv:1703.00300
- Bibcode:
- 2017arXiv170300300K
- Keywords:
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- Physics - General Physics
- E-Print:
- 17 pages