Velocities in 3-D Space

  • Thomas HaslwanterEmail author


The relationship between angular velocity and orientation is significantly more complex than that between linear velocity and position. This is due to the non-commutativity of rotations. This chapter shows how quaternions can be used to minimize the complexity, and to find simple relationships between angular velocity and orientation.

Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Medical Engineering and Applied Social SciencesUniversity of Applied Sciences Upper AustriaLinz, Upper AustriaAustria

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