Mostra el registre d'ítem simple
On Cayley's factorization of 4D rotations and applications
dc.contributor.author | Pérez Gracia, Alba |
dc.contributor.author | Thomas, Federico |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2018-01-22T17:48:43Z |
dc.date.available | 2018-01-22T17:48:43Z |
dc.date.issued | 2017-03-01 |
dc.identifier.citation | Pérez, A., Thomas, F. On Cayley's factorization of 4D rotations and applications. "Advances in applied clifford algebras", 1 Març 2017, vol. 27, núm. 1, p. 523-538. |
dc.identifier.issn | 0188-7009 |
dc.identifier.uri | http://hdl.handle.net/2117/113067 |
dc.description | The final publication is available at link.springer.com |
dc.description.abstract | A 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present a more straightforward alternative approach using the corresponding orthogonal subspaces, for which orthogonal bases can be defined. This yields easy formulations, both in the space of 4×44×4 real orthogonal matrices representing 4D rotations and in the Clifford algebra C4,0,0C4,0,0. Cayley’s factorization has many important applications. It can be used to easily transform rotations represented using matrix algebra to different Clifford algebras. As a practical application of the proposed method, it is shown how Cayley’s factorization can be used to efficiently compute the screw parameters of 3D rigid-body transformations. |
dc.format.extent | 16 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.other | 4D Rotations |
dc.subject.other | automation |
dc.title | On Cayley's factorization of 4D rotations and applications |
dc.type | Article |
dc.contributor.group | Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
dc.identifier.doi | 10.1007/s00006-016-0683-9 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation |
dc.relation.publisherversion | https://link.springer.com/article/10.1007%2Fs00006-016-0683-9 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 20096642 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO//DPI2014-57220-C2-2-P/ES/ESTRATEGIAS DE CONTROL PARA UN ROBOT ACTUADO POR CABLES PARA SIMULACION DE BAJA GRAVEDAD/ |
local.citation.author | Pérez, A.; Thomas, F. |
local.citation.publicationName | Advances in applied clifford algebras |
local.citation.volume | 27 |
local.citation.number | 1 |
local.citation.startingPage | 523 |
local.citation.endingPage | 538 |
Fitxers d'aquest items
Aquest ítem apareix a les col·leccions següents
-
Articles de revista [376]
-
Articles de revista [25]