摘要
本文通过对四元数矩阵求导的方法,首先推得四元数参数的运动学方程,再依据几种参数间的同构关系,即很方便地直接得到了方向余弦和凯里-克莱茵参数的运动学方程。所得的这三种方程在数学形式上也是完全一致的。此外,本文给出一个简单的定理概括了凯里-克莱茵参数与四元数参数的同构关系。
The kinematical equations for the direction cosine parameters and for the Cay-ley-Klein parameters are derived by means of the isomorphic relation between the several kinds of parameters. The isomorphic relation between the Cayley-Klein parameters and the quaternion parameters has been summarised into the form of a theorem. The forms of these equations being obtained are alike.
出处
《力学学报》
EI
CSCD
北大核心
1989年第1期122-126,共5页
Chinese Journal of Theoretical and Applied Mechanics
