A Comparison of Representations of General Spatial Screw Displacement

J Rooney
Additional contact information
J Rooney: School of Automotive Studies, Cranfield Institute of Technology, Cranfield, Bedford, MK43 0AL, England

Environment and Planning B, 1978, vol. 5, issue 1, 45-88

Abstract: This paper presents a comparison of eight methods of representing a general spatial rigid-body screw displacement. A distinction is made between point transformations and line transformations. The following three representations involving point transformations are considered: the real 4 × 4 matrix; the complex 4 × 4 matrix; and the real 6 × 6 matrix. These utilise homogeneous coordinates. The remaining five representations considered here are concerned with line transformations and are: the dual orthogonal 3 × 3 matrix; the dual special unitary 2 × 2 matrix; the dual Pauli spin matrices; the dual unit quaternion; and the dual special unitary 3 × 3 matrix. These make use of dual-number techniques. The most commonly used of these representations is the 4 × 4 real matrix and the conclusion reached is that this is certainly the best of the point transformations. The dual unit quaternion is similarly found to be the best of the line transformations.

Date: 1978
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
https://journals.sagepub.com/doi/10.1068/b050045 (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:sae:envirb:v:5:y:1978:i:1:p:45-88

DOI: 10.1068/b050045

Access Statistics for this article

More articles in Environment and Planning B
Bibliographic data for series maintained by SAGE Publications ().