Year: 2015
Type: preprint
Abstract: We propose a rational version of the classic Rodrigues' rotation formula, which leads to a more accurate and efficient modelling of rotations and their derivatives in finite precision arithmetic. We explain how the rational Rodrigues' formula can be used to describe the kinematics of rigid bodies, in a practical example in which we model the rotation of a cell phone using the data obtained from its gyroscope.
Source: arXiv (Cornell University)
Author: Mascarenhas, Walter F.
Language: English
Subfield: Modeling and Simulation
Field: Mathematics
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2269044100