Cayley-Rodrigues Parameters to Express Orientations in Robotics

Cayley-Rodrigues Parameters to Express Orientations in Robotics

In this lesson, we will become familiarized with another representation for orientations in robotics that is called Cayley-Rodrigues Parameters. Cayley-Rodrigues parameters provide local coordinates for SO(3). They are local coordinates because the representation is not singularity-free, and not all orientations can be expressed by them. However, they have properties that make them intriguing. This lesson is part of the series of lessons on foundations necessary to express robot motions. For the full comprehension of the Fundamentals of Robot Motions and the necessary tools to represent the configurations, velocities, and forces causing the motion, please read the following lessons (note that…
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