Quaternions and Rotation Sequences

Ever since the Irish mathematician William Rowan Hamilton introduced quaternions in the 19th century mathematicians and engineers have been fascinated by these mathematical objects. This text introduces quaternions for scientists and engineers who have not encountered them before.

"[A] splendid book . . . everything one could wish for in a primer. It is also beautifully set out with an attractive layout, clear diagrams, and wide margins with explanatory notes where appropriate. It must be strongly recommended to all students of physics, engineering or computer science."---Peter Rowlands, Contemporary Physics

Autorentext
J. B. Kuipers is Professor Emeritus of Mathematics at Calvin College. In addition to publishing papers and research notes on quaternions, he spent seventeen years in the aerospace industry where his work included developing applications of quaternion theory for aerospace systems. He also developed a six-dimensional graphics system and, as a consequence, is regarded by some as the founder of virtual reality.

Inhalt
List of Figures Historical Matters 2Algebraic Preliminaries 3Rotations in 3-space 4Rotation Sequences in R[superscript 3] 5Quaternion Algebra 6Quaternion Geometry 7Algorithm Summary 8Quaternion Factors 9More Quaternion Applications 10Spherical Trigonometry 11Quaternion Calculus for Kinematics and Dynamics 12Rotations in Phase Space 13A Quaternion Process 14Computer Graphics Further Reading and References Index

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