On the Work of Benjamin Olinde Rodrigues (17951851)  in particuler, on Expression of Spatial Motions
Abstract
This is a translation of Proceedings of 22 th Symposium on History of Mathematics, Tsuda University 2011, on the work of Benjamin Olinde Rodrigues and on his life. His chefd'oeuvre is the work on Euclidean motion group in 1840. He invented Rodrigues expression of rotation and give explicit calculation formula for product of two rotations, which might be considered as a discovery of quaternion product rule ahead of Hamilton. We follow a new proof of E. Cartan in his book on spineurs in 1938 for Rodrigues formula, which was called as EulerOlindRodrigues formula mistakenly. We add as Appendix important parts of Lecture Note on applications of quaternion. Description of rotation in Rodrigues expression and an interesting compact formula for time derivative of rotation, applicable in many purposes.
 Publication:

arXiv eprints
 Pub Date:
 May 2020
 DOI:
 10.48550/arXiv.2006.00196
 arXiv:
 arXiv:2006.00196
 Bibcode:
 2020arXiv200600196H
 Keywords:

 Mathematics  History and Overview;
 Primary 2003;
 01A70;
 Secondary 20C99;
 01A85
 EPrint:
 22 pages