Euler parameters and the use of quaternion algebra in the manipulation of finite rotations: a review
- Mechanism and machine theory, 21(5), p.365-373, 1986 .
For the description of arbitrary rotations, Euler parameters are compared to Rodrigues parameters, Euler angles and other parameter sets. Euler parameters have the advantage of being a non-singular two-to-one mapping with rotation. In addition, Euler parameters form a unit quaternion and may be manipulated using quaternion algebra. Examples in robot arm kinematics and spacecraft attitude determination are included. These examples show that the application of such an algebra greatly simplifies the manipulation of multiple rotations and rotating frames of reference.