Robotics - Quaternion Kinematics
Definition of Quaternion, Relationship Between Quaternion and Rotation Matrix
Definition of Quaternion
Quaternions can be represented as:
\[\begin{gather*}
q = [s, x, y, z] = s + xi + yj + zk = s + v
v = (i, j, k)
\end{gather*}\]
i, j, k are 3 complex dimensions, where:
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