论文标题
用于使用Euler参数建模转换运动的非源参数化
Nonsingular Parameterization for Modeling Translational Motion Using Euler Parameters
论文作者
论文摘要
描述了一个参数化，用于量化三维欧几里得空间中的点的翻译运动。参数化类似于众所周知的参数化，例如球形坐标，即位置和速度都将其分解为大小和方向成分。与这些标准参数化不同的是，在该研究中采用主旋转序列，本研究中介绍的方法采用了Euler参数。通过使用Euler参数而不是Euler角度，从运动方程式中删除了奇异性和三角函数。参数化在两个示例中证明了参数化，发现新的参数化提供了数学和计算优势，而不是其他常用的参数化。
A parameterization is described for quantifying translational motion of a point in three-dimensional Euclidean space. The parameterization is similar to well-known parameterizations such as spherical coordinates in that both position and velocity are decoupled into magnitude and orientation components. Unlike these standard parameterizations, where principal rotation sequences are employed, the method presented in this research employs Euler parameters. By using Euler parameters instead of Euler angles, singularities and trigonometric functions are removed from the equations of motion. The parameterization is demonstrated on two examples, where it is found that the new parameterization offers both mathematical and computational advantages over other commonly used parameterizations.
