Abstract
The relationship between angular velocity and orientation is significantly more complex than that between linear velocity and position. This is due to the non-commutativity of rotations. This chapter shows how quaternions can be used to minimize the complexity, and to find simple relationships between angular velocity and orientation.
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Notes
- 1.
An easy-to-use Matlab implementation for the Savitzky–Golay filter for smoothing and derivatives is the command savgol in the Matlab Kinematics Toolbox.
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Haslwanter, T. (2018). Velocities in 3-D Space. In: 3D Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-75277-8_5
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DOI: https://doi.org/10.1007/978-3-319-75277-8_5
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Online ISBN: 978-3-319-75277-8
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