Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace and Virtual Reality...

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J. B. Kuipers

Quaternions and Rotation Sequences

A Primer with Applications to Orbits, Aerospace and Virtual Reality

J. B. Kuipers

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English

Princeton University Pres
18 November 2002

Mathematics & Sciences; Algebra; Maths for scientists; Maths for engineers

Ever since the Irish mathematician William Rowan Hamilton introduced quaternions in the 19th century - a feat he celebrated by carving the founding equations into a stone bridge - mathematicians and engineers have been fascinated by these mathematical objects. They are used in applications as various as describing the geometry of space-time, guiding the Space Shuttle and developing computer applications in virtual reality. In this book, Jack Kuipers introduces quaternions for scientists and engineers who have not encountered them before and shows how they can be used in a variety of practical situations.

By: J. B. Kuipers
Imprint: Princeton University Pres
Country of Publication: United States
Edition: New edition
Dimensions: Height: 254mm, Width: 191mm, Spine: 25mm
Weight: 794g
ISBN: 9780691102986
ISBN 10: 0691102988
Pages: 400
Publication Date: 18 November 2002
Audience: Professional and scholarly , College/higher education , Undergraduate , Primary
Format: Paperback
Publisher's Status: Active

List of FiguresAbout This BookAcknowledgements1Historical Matters32Algebraic Preliminaries133Rotations in 3-space454Rotation Sequences in R[superscript 3]775Quaternion Algebra1036Quaternion Geometry1417Algorithm Summary1558Quaternion Factors1779More Quaternion Applications20510Spherical Trigonometry23511Quaternion Calculus for Kinematics and Dynamics25712Rotations in Phase Space27713A Quaternion Process30314Computer Graphics333Further Reading and References365Index367

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.

Reviews for Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace and Virtual Reality

[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 This book will appeal to anyone with an interest in three-dimensional geometry. It is a competent and comprehensive survey. . . . This book is unique in that it is probably the only modern book to treat quaternions seriously. . . . A valuable asset. --Aeronautical Journal