Using Quarternion to Compose Rotations (UMAP)
Author: Frederick Solomon
The purpose of this module is for students to learn the definition of the quaternions and some of its algebraic properties, as well as to calculate the result of two rotations about different axes in 3-space.
Table of Contents:
1. INTRODUCTION
2. CONTEXTS IN WHICH ROTATIONS ARE COMPOSED
3. THE QUATERNIONS
4. ADDITION AND MULTIPLICATION
5. CONJUGATION AND NORM
6. THE QUATERNIONS ARE A SKEW-FIELD
7. POLAR REPRESENTATION OF QUATERNIONS
8. DEFINITION OF THE MULTIPLICATION LINEAR OPERATOR - THE BASIC THEOREM
9. THE MULTIPLICATION OPERATOR IS REALLY A ROTATION
10. APPLICATIONS TO ROTATIONS
11. THE ORIGINAL QUESTION ANSWERED
12. HISTORICAL NOTE
13. MODEL EXAMINATION
14. ANSWERS TO EXERCISES
15. ANSWERS TO THE MODEL EXAMINATION

Mathematics Topics:
Application Areas:
Prerequisites:
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