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SECTION | Page | |
I | Introduction | 1 |
II | The Euler Parameters | 4 |
III | The Cayley-Klein Parameters | 10 |
IV | Quaternions | 16 |
V | Infinitesimal Transformations | 19 |
VI | Theoretical Error Analyses | 22 |
VII | Simulator Results | 39 |
VIII | Summary and Conclusion | 53 |
APPENDIX | ||
A. | Orthogonal Transformations | 56 |
1. The Independent Coordinates of a Rigid Body | 56 | |
2. Orthogonal Transformations | 57 | |
3. Properties of Matrices | 61 | |
4. Infinitesimal Rotations | 66 | |
B. | The Euler Angles | 72 |
C. | Servomultiplier Errors | 72 |
This edit 27Sep2015