Modified Gibbs's representation of rotation matrix

S. I. Kruglov; V. Barzda

doi:10.48550/arxiv.1703.00300

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arXiv · 1703.00300

Modified Gibbs's representation of rotation matrix

S. I. Kruglov·V. Barzda

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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.

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S. I. Kruglov, V. Barzda. 2017-02-24. Modified Gibbs's representation of rotation matrix. https://doi.org/10.48550/arxiv.1703.00300

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