Abstract
Euler parameters have several advantages over other methods of parameterising rotations. A selection of methods for extracting Euler parameters from a rotation matrix are presented, and their computational efficiency and accuracy are compared. One commonly accepted method is shown to suffer from loss of significance when rotations are close to π ± 2kπ radians. This paper also presents an original method based on the eigendecomposition of the rotation matrix.
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© 2000 Springer Science+Business Media Dordrecht
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Coope, I.D., Lintott, A.B., Dunlop, G.R., Vuskovic, M.I. (2000). Numerically Stable Methods for Converting Rotation Matrices to Euler Parameters. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_4
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DOI: https://doi.org/10.1007/978-94-011-4120-8_4
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5803-2
Online ISBN: 978-94-011-4120-8
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