NASA T E C H N I C A L T R A N S L A T I O N NASA TT F-i5, 4 1 4

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A P P L I C A T I O N OF a U A T E R N I O N S T O R I G I D BODY R O T A T I O N PROBLEMS

V.N. Branets and I . P . Shmyglevskiy

(NASA-TT-F-1541G) A P P L I C A T I O X OF N7rr-25040
U U ~ B I E L I I O N S TO Z I G I D BZCY 3 0 T I T i O M
PROBLEMS ( S c i e n t i f i c l r a r l s l a t i o n S e r v i c e )
352 p HC $20.75 CSCL 20K llnclas
G3/19 542~9 j

T r a n s l a t i o n of "Primeneniye k v a t e r n i o n o v v
zadachakh o r i e n t a t s i i tverdogo %ela1:.
MOSCOW, "Nauka" P r e s s , 1973, 320 pages.

N A T I O N A L A E R O N A L T I C S AND SPACE A D M I N I S Y R A T I O N
WASHINGTON, D. C. 20546 JULY 1974
 STANDARD TITLE PACE

1 1. l h o t t No. I 2. b w e m o n t Acc*..~M No. ! 3. R.cipi*nt'a Cm1el.m Ne. 1

NASA TT F-15.414 I
4. Title end Subtetie

APPLICATION OF QUATERNIONS TO R I G I D BODY mTA-

6. Pulorming Otgonixation Cod*
TION PROBLEMS

( V. N. Branets and I. P. Shmyglsvskiy 10. Yotk Unit No.

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9. Perf>rrning 0rerriaeti.n N r a .nd Addresr
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13. Trpe o l Report ond Period Ceve*ed '

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Wasningtos, D.C. ~0546
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Supple-tuy NU.
i
II Translation of Primenmiye kvaternionov v zadachakh o r i e n t a t s i i
Moscow, "Nauka" Press, 1973, 320 pages
I tverdogo tbla"...
- 16. Abstract
4

The book is devoted t o t h e questions of applying guaterniobs

t o general t h e o r e t i c a l problems of t h e kinematics of r i g i d body
/i
r o t a t i o n and t o p r a c t f c a l problems of control. The theory of f i n i t e I
I
r o t a t i o n s and t h e kinematics of r i g i d body r o t h t i o n a r e presented on
t h e b a s i s of quaternion product operations. Questions i n t h e study
of the kinematic e q ~ a t i o n sand t h e i r numerical i n t e g r a t i o n , problems
i n t h e use of quatcrnions i n problems of r i g i d body r o t a t i o n control,
and optimization of s p a t i a l t u r n s a r e considered. A number of examples
i n d i c a t e t h e convenience and advantage of using quatenions i n control
problems. The book w i l l be of i n t e r e s t t o s p e c i a l i s t s i n t h e a r e a of
a i r c r a f t control systems and f o r everyone. i n t e r e s t e d i n general problems
I
I

of r i g i d body mechanics. I

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 PREFACE

The b a s i c r e s u l t s of t h e c l a s s i c a l theory of r i g i d body r o t a -

t i o n were o b t a i n e d i n t h e l a s t c e n t u r y . A number of kinematic
p a r a m e t e r s , such as t h e Rodriquez-Hamilton p a r a m e t e r s , t h e Cayley-
Klein parameters, t h e Euler-Krylov a n g l e s and t h e d i r e c t i o n c o s i n e s ,
were proposed f o r d e s c r i b i n g t h e a o t i o n o f a r i g i d body abcut a
f i x e d p o i n t . A t t h e same time, t h e a t t e n t i o n o f t h e i n v e s t i g a t o r s
was d i r e c t e d a t f i n d i n g a convenient form f o r r e p r e s e n t i n g t h e
e q u a t i o n s and f i n d i n g i n t e g r a b l e c a s e s o f -notion. After t h i s , t h e
emphasis of t h e i n v e s t i g a t i o n s s h i f t e d i n t o t h e a r e a o f t h e a p p l i e d
t h e o r y of gyroscopes. The r i g i d body motion was s p e c i f i e d exclu-
s i v e l y by t h e Euler-Krylov a n g l e s , which found wide a p p l i c a t l o n i n
a l l works on mechanics, i n c l u d i n g works on i n v e s t i g a t i o n s o f t h e
c o n t r o l o f moving o b j e c t s . I n a d d i t i o n , t h e s t r u c t u r e o f m a t r i c e s
was a l s o a p p l i e d i n t h e o r e t i c a l works, t h e p o s i t i o n of t h e body
was s p e c i f i e d by t h e d i r e c t i o n c o s i n e s . The o t h e r methods f o r
d e s c r i b i n g a n g u l a r motion were mentioned mainly t o a s s u r e a com-
prehensive d i s c u s s i o n .

The s i t u a t i o n h a s changed over t h e l a s t decade. The develop-

ment o f a i r c r a f t c o n t r o l systems and t h e u s e o f computers i n motion
c o n t r o l have l e d t o t h e r e s c l t t h a t t h e r a t i o n a l d e s c r i p t i o n of
t h e s p a t i a l motion of t h e r i g i d body i n v a r i o u s c o n t r o l problems
h a s a c q u i r e d p r a c t i c a l v a l u e . The c o n s t r u c t i o n of p l a t f o r m l e s s
(Cardan-less) i n e r t i a l systems and t h e c o n s t r u c t i o n o f c o n t r o l
systems f o r s p a t i a l t u r n s , o r i e n t a t i o n and s t a b i l i z a t i o n o f r i g i d
bodies a r e r e l a t e d , i n p a r t i c u l a r , t o such problems. There a r e
some disadvantages i n u s i n g t h e Euler-Krylov a n g l e s i n t h e s e pro-
blems. I n e s s e n c e , any system o f a n g l e s s i m u l a t e s some Cardan
suspension. Degeneracy o f t h e kinematic e q u a t i o n s occurs f o r

iii
I
 8

s p e c i f i c v a l u e s of t h e a n g l e s , which r e f l e c t s t h e e f f e c t o f f o l d - i

i n g t h i s suspension frame. Such a degeneracy of t h e e q u a t i o n s i s :

not caused by r e a l p h y s i c a l l i m i t a t i o n s imposed on t h e a n g u l a r

motions of t h e r i g i d body. I n a d d i t i o n , i n t e g r a t i o n o f t h e kine-
matic e q u a t i o n s and t r a n s f o r m a t i o n o f t h e c o o r d i n a t e s i n t h e Euler-
Krylov a n g l e s a r e r e l a t e d t o trigonomet-ic o p e r a t i o n s , which reduce
t h e e f f i c i e n c y of u s i n g computers.

Among a l l t h e ki-lematic parameters, t h e Rodriguez-Hamilton

parameters and t h e Cayley-Klein parameters occupy a s p e c i a l p l a c e .
These parameters a r e n o t degenerate f o r any p o s i t i o n of t h e r i g i d
1
%
body, i n c o n t r a s t t o t h e E u l e r a n g l e s . There a r e f o u r of t h e s e i

i parameters. Thus they have one c o u p l i n g e q u a t i o n , i n c o ~ t r a s tt o

t
I
i t h e s i x f o r t h e d i r e c t i o n c o s i n e s . A l l o f t h i s s i m p l i f i e s the
t problem of i n t e g r a t i n g numerically t h e k i n e m a t i c e q u a t i o n s . I n
a d d i t i o n , t h e Rodriguez-Hamilton (and t h e Cayley-Klein) parameters
make i t p o s s i b l e t o e f f i c i e n t l y s o l v e many problems i n t h e t h e o r y
i of f i n i t e r i g i d body r o t a t i o n s , s t a b i l i t y o f c o n t r o l l e d motion,
f e t c . I n s p i t e o f such advantages, t h e u s e of t h e s e parameters i s
complicated by t h e f a c t t h a t i t l e a d s t o t h e a p p l i c a t i o n of t h e
I v e c t o r t h e o r y of f i n i t e r o t a t i o n s o r even t o s t e r e o g r a p h i c pro-
j e c t i o n and u n i t a r y t r a n s f o r m z t i o n s , which do n o t have a simple
geometric meaning. The u s e of q u a t e r n i o n s p e r m i t s t h e c r e a t i o n o f
a very convenient and c l e a r formalism which uses t h e Rodriguez-
Hamilton parameters.

Q u a t e r n i o n s were f i r s t i n t r o d u c e d i n m ~ t h e m aitc s by W . R.
Hamilton i n 1643. S t a r t i n g i n 1833, he sturiied t h e t h e o r y o f t h e
q u a t e r n i o n s c r e a t e d by him, t r y i n g t o f i n d f o r t h e s t u d y of
s p a r i a l geometry t h e same s o r t o f convehient s t r u c t u r e a s complex
nimbers used i n s o l v i n g p l a n a r problems. The r e s u l t s o f h i s work
appeared i n two books: "Lectures on Quaternions" :55] and "Elements
of Quaternionst' [54]. Subsequent l y , t h e t h e o r y of q u a t e r n i o n s was
s t u d i e d by H. Hankel and F. Klein. However, u n t i l r e c e n t l y qua-

w . iv

--.
. .:,
>
- -
i ,
--- . -
-*
. . , . ~ . - .
( .
 t e r n i o n s had not founc any p r a c t i c a l a p p l i c a t i o n and had s e r v e d
a s an example of a formal mathematical model o f four-dimensional
l i n e a r algebra.

Works o f t h e a u t h o r s on a p p l y i n g q u a t e r n i o n s t o t h e s t u d y o f
5
b r i g i d body r o t a t i o n are p r e s e n t e d i n t h i s monograph. The formalism
i
I
i
o f o r t h o g o n a l t r a n s f o r m a t i o n s and t h e o r y o f f i n l t e r o t a t i o n s o f
1 r i g i d b o d i e s i s developed on t h e b a s i s o f t h e known form o f r e p r e -
'
i s e n t i n g o r t h o g o n a l t r a n s f o r m a t i o n s i n t h e form o f q u a t e r n i o n pro-
I d u c t o p e r a t i o n s . An a t t e m p t i s made t o r e l a t e t h e developed forma-
i l i s m using quaternions t o o t h e r kinematic parameters. A study o f
1
2
t h e general p r o p e r t i e s of t h e kinematic equations i s c w r i e d out
f. i n d e t a i l . A g e n e r a l method f o r d e r i v i n g t h e s e e q u a t i o n s i s pro-
posed, which i s v a l i d f o r t h e v a r i o u s k i n e m a t i c parameters and
w e l l i l l u s t r a t e s t h e i r p h y s i c a l meaning.

The a p p l i c a t i o n of q u a t e r n i o n s p e r m i t s one t o r e p r e s e n t i n a
unique v e c t o r form i n f i n i t e s i m a l r o t a t i o n s , which d e f i n e t h e a n g u l a r
v e l o c i t y v e c t o r , and a r b i t r a r y t r a n s f o r m a t i o n s , which a r e f i n i t e
.
r o t a t i o r ~ s Q u a t e r n i o n s have an extremely convenient s t r u c t u r e f o r
s t u d y i n g t h e k i n e m a t i c s o f r i g i d body motion, which i s e x p l a i n e d
by t h e d u a l i s m o f t h e q u a t e r n i o n u n i t s , which a r e , on t h e one hand,
-
b a s e s o f r e a l three-dimensional s p a c e and, on t h e o t h e r , t r a n s -
f o r m a t i o n o p e r a t o r s . Due t o t h i s p r o p e r t y o f q u a t e r n i o n s , t h e
Rodriguez-Hamilton and t h e Cayley-Klein p a r a m e t e r s have a s i m p l e
and c l e a r p h y s i c a l meaning.

Q u e s t i o n s o f a p p l y i n g t h e k i n e m a t i c s o f a n g u l a r motion o f
p r a c t i c a l problems o f r i g i d body mot i o n c o n t r o l are a l s o c o n s i d e r e d
i n t h e book. Q u e s t i o n s o f i n t e g r a t i n g n u m e r i c a l l y t h e k i n e m a t i c
e q u a t i o n s and q u e s t i o n s o f u s i n g t h e k i n e m a t i c p a r a m e t e r s ( i n
p a r t i c u l a r , t h e q u a t e r n i o n e l e m e n t s ) i n c o n t r o l a r e s t u d i e d i n de-
t a i l , and p a r t i c u l a r c a s e s o f problems i n o p t i m i z i n g s p a t i a l t u r n s
a r e a l s o c o n s i d e r e d . The a u t h o r s have t r i e d t o i n d i c a t e t h e
p o s s i b i l i t i e s of applying t h e q u a t e r i o n s t r u c t u r e b o t h t o g e n e r a l
t h e o r e t i c a l problems and t o p r a c t i c a l problems o f r i g i d body motion
c o n t r o l , and a l s o t o draw t o t h e a t t e n t i o n of a wide c i r c l e of
'f
s p e c i a l i s t s working i n t h e a r e a of a i r c r a f t c o n t r o l systems and ?

p l a t f o r m l e s s s y s t e m s , and everyone i n t e r e s t e d i n g e n e r a l problems 4

o f r i g i d body mechanics, t o t h i s powerful s t r u c t u r e .

t

The a u t h o r s take t h i s o p p o r t u n i t y t o e x p r e s s t h e i r deep

a p p r e c i a t i o n t o B.V. Raushenbakh and T.M. Eneyev f o r h e l p ? work 3

on t h i s book.
 TABLE OF CONTENTS

P age

CHAPTER 1. QUATE;WIO?qS AVD THEIR PROPERTIES.. ........... .1

5 1.1. Q u a t e r n i o n A l g e b r s ...........................l
5 1.2. S p h e r i c a l R e p r e ~ e n t a t l ~ of'
m Quaternions.... .ll
5 1.3. Transformation of Rotations.. .............. . 1 8
1.4. S p h e r i c a l Geometry ..........................21!

CHAPTER 2. THEORY OF FINITE R I G I D BODY ROTATIONS.. ..... .34

5 2.1. O r t h o g o n a l Transformations..................37
2.2. R e p r e s e n t a t i o n o f O r t h o g o n a l Transforma-
.- 4 8
t i o n s i n t h e Form o f Q u a t e r n i o n P r o d u c t s . .
2.3. Basis Transformation. ...................... .52
2.4. T r a n s f o r m a t i o n o f Compcnents o f a F i x e d
V e c t o r Hypercomplex Mapping................- 5 6
5 2.5. Variance of t h e R o t a t i o n Operation.
...............59
Rodrigues-Hamilton P a r a m e t e r s
2.6. ......................65
Summation of R o t a t i o n s
S 2.7. R e l a t i o n o f t h e Rodriguez-Hamiiton P a r a -
... .75
m e t e r s w i t h O t h e r Kinematic P a r a m e t e r s . .

CHAPTER 3. KINEMATIC EQUATIONS..........................9 3

5 3.1. I n f i n i t e s i m a l T r a n s f o r m a t i o n . Angular
Velocity Vector ............................. 94
5 3.2. ....
D e r i v a t i c n of t h e Kinematic E q u a t i o n s . . .!39
2 3.3. Kinematic E q u a t i o n s i n O t h e r P a r a m e t e r s . .. .lo8
5 3.4. I n v e s t i g a t i o n o f t h e Kinematic E q u a t i o n s . . . l 2 5
5 3.5. P a r t i c u l a r S o l u t i o n s of t h e Kinematic
Equations.. ............................... -138
5 3.6. Formal S o l u t l o n o f t h e Kinematic E q u a t i o n . . l 5 0

CHAPTER 4. APPROXIMATE AND NUMERICAL INTEGRATION OF THE

KINEMATIC EQUATIONS.........................l 55

5 4.1. C o n s t r u c t i o n o f t h e Numerical Methods ......155

5 4.2. Kinematic E q u a t i o n s f o r Unnormalized
Q u a t e r n i o n s . C o r r e c t i o n o f t h e Norm. ......1 6 1
S 4.3. Numerical Methods f o r Norm C o r r e c t i o n . . ... . l 6 4
 4.4. E r r o r s i n t h e Numerical Methods w i t h Con-
s t a n t Increments ...........................169
4.5. Numerical Methods o f I n t e g r a t i o n w i t h
V a r i a b l e Increments........................178
4.6. Quantization Error .........................184
4.7. S t a b i l i z a t i o n o f t h e Magnitude and Angle
i n t h e Poisson Equations ...................187
CHAPTER 5. USE OF QUATERNIONS I N PROBLEMS OF R I G I D
BODY MOTION CONTROL .........................1 9 3
5.1. Dependence o f t h e C o n t r o l S i g n a l s on t h e
.......................196
Kinematic P a r a m e t e r s
5.2. Kinematic Problem o f O r i e n t a t i o n i n an
...............200
I n e r t i a l C o o r d i n a t e System..
5.3. Kinematic Problem o f O r i e n t a t i o n i n a Ro-
...................210
t a t i n g C o o r d i n a t e System
5.4. ...............235
Dynamic O r i e n t a t i o n Problem.
5.5. Examples...................................238
CHAPTER 6. OPTIMUM SPATIAL TURNS OF A R I G I D BODY. ......250

6.1. Kinematic Optimum Turn. F o r m u l a t i o n o f

t h e Problem ................................ 251
6.2. S o l u t i o n o f t h e Kinematic Optimum Turn
Problem .................................... 255
6.3. Optimum C o n t r o l f o r a Bounded Magnitude
............
o f t h e Angular V e l o c i t y V e c t o r . 262
6.4. Optimum C o n t r o l w i t h L i m i t a t i o n s on t h e
Components o f t h e Angular V e l o c i t y V e c t o r . . 269
6.5. Dynamic Optimum Turn. E o r m u l a t i o n o f t h e
Problem. .................................. -305
6.6. P a r t i c u l a r S o l u t i o n o f t h e Dynamic Optimum
Turn Problem f o r a Body w i t h S p h e r i c a l
Symmetry and a L i m i t a t i o n on t h e Magnitude
..................
o f t h e C o n t r o l l i n g Torque 311
6.7. ...................
Supplementary Remarks.. .327

BASIC NOTATION ..........................................333

REFERENCES ..............................................336

v i ii
 V.N. B r a n e t s and I . P . Shmyglevskiy

CHAPTER 1
QUATERNIONS AND THEIR PROPERTIES

5 1.1. QUANTERNION ALGEBRA

The n e c e s s i t y of e x t e n d i n g t h e o p e r a t i o n s o f t h r e e - t i i m e n s i o n a l
v e c t o r a l g e b r a t o t h e o p e r a t i o n s o f m u l t i p l i c a t i o n and d i v i s i m
l e d Hamilton (1843) t o i n t r o d u c e a n a l g e b r a f o r f o u r - d i m e n s i o n a l
numbers, o r q u a t e r n i o n s [ 5 4 , 551. Q u a t e r n i o n means a number con-
s i s t i n g of a r e a l u n i t 1 and t h r e e imaginary u n i t s ** i l , i 2 ,..-3, 4

w i t h r e a l e l e m e n t s of t h e f o l l o w i n g form:

We w i l l s t a t e t h e b a s i c p o s t u l a t e s d e f i n i n g t h e q u a t e r n i o n
operations.
lo Two q u a t e r n i o n s A and M a r e e q u a l i f t h e i r e l e m e n t s
b = PI rtiiOO, 1, 2, 3) a r e e q u a l .
'2 The q u a t e r n i o n whose e l e m e n t s a r e t h e q u a n t i t i e s X ,
&. +

i s c a l l e d t h e sum o f t h e q u a t e r n i o n s A and M:
- -

* Numbers i n margin indicate pagination i n original foreign t e x t .

** Hamilton d e n o t e d t h e t h r e e imaginary u n i t s by i , j , k. However,
f o r convenience, w e w i l l u s e t h e n o t a t i o n i n t r o d u c e d by H a l k e l :
i 1 , i . W e n o t e t h a t i t i s p o s s i b l e t o e x t e n d t h e hypercomplex
numbers f u r t h e r t o t h e c a s e when t h e Ai t h e m s e l v e s a r e a l s o complex.
The numbers c o n s t r u c t e d i n such a manner a r e c a l l e d b i q u a t e r n i o n s
and have f o ~ n da p p l i c a t i o n f o r d e s c r i b i n g h e l i c a l motion o f r i g i d
b o d i e s . B i q u a t e r n i o n s w i l l n o t b e c o n s i d e r e d i n t h i s work.
 M u l t i p l i c a t i o n o f t h e q u a t e r n i o n A by t h e s c a l a r a i s
3'
performed by m u l t i p l y i n g a l l i t s e l e m e n t s b y t h i s number:
+
a h = ah1 aLlil ahzi2+ +
I n p a r t i c u l a r , t h e quaternion:
- A - &l - hlil - ?,i2 - A3i3,
w i l l b e n e g a t i v e , and t h e q u a t e r n i o n ( 0 , 0 , 0 , 0 ) w i l l be z e r o .

It f o l l o w s from t h e s e d e f i n i t i o n s t h a t t h e a d d i t i o n o f qua- / 1 2 -
t e r i o n s and t h e i r m u l t i p l i c a t i o n by a s c a l a r s a t i s f y t h e r u l e s o f
ordinary algebra :

The u n i t s 1, il, i 2 , i can be c o n s i d e r e d a s u n i t v e c t o r s

3
( b a s i s v e c t o r s ) of a f o u r - d i m e n s i o n a l s p a c e , which we d e n o t e by
H. Then any q u a t e r n i o n can he r e p r e s e n t e d i n t h i s s p a c e by a
p o i n t o r a r a d i u s v e c t o r . A d d i t i o n of v e c t o r s and t h e i r m u l t i -
p l i c a t i o n b y a s c a l a r i n t h e s p a c e H are performed i n t h e same way
as i n o r d i n a r y v e c t o r s p a c e . The p e c u l i a r i t y o f t h e s p a c e H
c o n s i s t s of t h e f a c t t h a t i t i s c l o s e d r e l a t i v e t o t h e o p e r a t i o n s
of mult!plicat i o n and d i v i s i o n .

7' I n o r d e r t o d e f i n e t h e p r o d u c t o f q u a t e r n i o n s , i t i s
n e c e s s a r y t o s p e c i f y t h e r u l e s f o r m u l t i p l y i n g t h e u n i t s 1, a r y t o
, i , i . These r u l e s are t h e f o l l o w i n g :
 With such a r u l e f o r multip:ication, t h e p r o d u c t of two qua-
ternions is a l s o a quaternion.

The r u l e s f o r m u l t i p l i c a t i o n a r e e x t r e m e l y f o r t u i i a t e * ; .,anks
t o them, q a a t e r n i o n a l g e b r a i n c l u d e s t h e a l g e b r a o f rea; and com-
p l e x numbers, and a l s o t h r e e - d i m e n s i o n a l v e c t o r a l g e b r a .

Q u a t e r n i o n s c o n t a i n t h e r e a l numbers ( a , 0 , 0 , 0 ) w i t h t h e
s i n g l e u n i t 1, t h e complex numbers ( a , b , 0 , 0 ) w i t h t h e two u n i t s -
/13
1, i , and t h e v e c t o r s ( 0 , a , b , c ) i n t h r e e - a i m e n s i o n a l s p a c e .
Although t h e r e a l and complex numbers form a f i e l d ( i . e . , a d d i t i o n ,
m u l t i p l i c a t i o n and d i v i s i o n g i v e back e l e m e n t s of t h e same s e t ) ,
t h e p r o d u c t of two v e c t o r s , as w i l l be shown below, i s a l r e a d y n o t
a vector, but a quaternion.

The r u l e f o r m u l t i p l i c a t i o n 7' i n d i c a t e s t h a t m u l t i p l i c a t i o n
by 1 does n o t change a q u a t e r n i o n , i . e ., t h e component 1 behaves
a s an o r d i n a r y s c a l a r . F o r t h i s r e a s o n , we w i l l s u b s e q u e n t l y
w r i t e t h e f i r s t term ( h o ) w i t h o u t t h e u n i t i n e x p r e s s i o n s f o r
quaternions.

One can f u r t h e r i d e n t i f y t h e u n i t s il, i 2 , i w i t h t h e u n i t

3
v e c t o r s or' t h r e e - d i m e n s i o n a l v e c t o r s p a c e ** and c ~ n s i d e rt h e
c o e f f i c i e n t s w i t h t h e s e u n i t s a s v e c t o r components. I n accordance

* Hamilton w r o t e about t h e d i s c o v e r y o f q u a t e r n i o n s : "They were

b o r n c o m p l e t e l y f o r m u l a t e d on October 1 6 , 1843, when Mrs. Hamilton
and I were s t r o l l i n g about Dublin a n d were c l i m b i n g Brougham b r i d g e ,
which s t u d e n t s have c a l l e d Q u a t e r n i o n b r i d g e s i n c e t h e n . My c h a i n
of t h o u g h t was c l o s e d a t t h i s moment and t h e b a s i c r e l a t i o n s o f
i , j , k a r o s e v i v i d l y e x a c t l y as I use them now."
** S i n c e , i f t h e o r t h o g o n a l t r a n s f o r m a t i o n o f ii i n t o i; (i;==cliii) i s
i n t r o d u c e d , t h e n because of t h e o r t h o g o n a l i t y c , l c k , E b , k i t can be
s e e n t h a t i, s a t i s f i e s t h e same m u l t i p l i c a t i o n r u l e s a s t h e qua-
J
ternion units:.
1: 0 1 ; e' - C,,Cl( = - 1 , 1i.1; -- C?,C31 +
- cllil + q 2 l l + cI3i,= OL e tc .
with t h i s we w i l l r e p r e s e n t a q u a t e r n i o n i n t h e form o f a sum o f
s c a l a r and v e c t o r p a r t s , which w i l l be d e n o t e d by s q a l A and v e c t A
respectively :
8O A=sqaiA+vectA=&+A The e x p r e s s i o n f o r t h e v e c t o r p a r t
w i l l be w r i t t e n i n t h e rorm t a k e n f o r o r d i n a r y v e c t o r s f o r con-
venience.

The r u l e s f o r m u l t i p l i c a t i o n o f t h e imaginary u n i t s a r e e a s i l y
remembered by u s i n g t h e f o l l o w i n g r e ~ r e s e n t a t i o n( F i g u r e 1.1):
when m u l t i p l y i n g two u n i t s a r r a n g e d c i o c k w i s e , one o b t a i n s t h e
t h i r d u n i t w i t h a p l u s s i g n ; when moving i n t h e o p p o s i t e d i r e c t i o n
c o u n t e r c l o c k w i s e ) t h e u n i t i s t a k e n w i t h a minus s i g n .

By performing t h e m u l t i p l i c a t i o n of two q u a t e r n i o n s A and M, /14

we o b t a i n :

If t h e o r d e r o f t h e f a c t o r s i s changed, i . e . t h e p r o d u c t h 1 0 h
i s considered, then t h e determinant i n t h e m u l t i p l i c a t i o n formuja
( 1 . 1 ) changes; t h e l i n e s of h and p a r e i n t e r c h a n g e d ( i . e . , t h e
d e t e r m i n a n t changes s i g n ) . By u s i n g f o r m u l a (1.I), one can prove
t h e b a s i c p r o p e r t i e s of m u l t i p l i c a t i o n .

go Q u a t e r n i o n m u l t i p l i c a t i o n i s a s s o c i a t i v e and d i s t r i b u t i v e
with r e s p e c t t o a d d i t i o n .
!

F o r t h e p r o o f of t h i s s t a t e m e n t , we c o n s i d e r t h e p r o d u c t of
t h e t h r e e imaginary u n i t s , s i n c e t h i s p r o p e r t y i s e v i d e n t f o r t h e
r e a l u n i t . We have:
 t h e r e m a i n i n g p r o d u c t s aF2 o b t a i n e d by analogy by c y c l i c p e r m u t a t i o n
( t h e p o s s i b i l i t y of which f o l l o w s from t h e m u l t i p l i c a t i o n r u l e s 7'
i l l u s t r a t e d by F i g u r e 1.1). Hence, It f o l l o w s t h a t t h e e q u a l i t y :

i s c o r r e c t f o r any q u a t e r n i o n s . It can b e v e r i f i e d i n p r e c i s e l y
t h e same manner t h a t :
Ao(M+N)=AoM+AoN,

!
$
s i n c e t h e components of t h e p r o d u c t s on b o t h s i d e s of t h e e q u a l i t y
f coincide f o r each u n i t .
\,

10' duatemion multiplicstion i s -

115
noncommutative; p e r m u t a t i o n of t h e
f a c t o r s i s p o s s i b l e o n l y when one of
t h e f a c t o r s i s a s c a l a r o r when t h e
v e c t o r p a r t s of t h e f a c t o r s a r e pro-
"ut8*
portional. F i g u r e 1.1.

Actu2Lly, by examining t h e m u l t f 2 l i c a t i o n f o r m u l a (1.1) . one

can s e e t h a t A o M = M o A only when t h e d e t e r m i n a n t v a n i s h e s . T h i s
i s p o s s i b l e e i t h e r when Al=Al=h.3=0 o r 1i1=p1=p3=0 , i . e . when
% L A
A o r M i s a s c a l a r , o r when - I . = - - ? - = L = a
PI CI, P8 , i.e. X = a ~ .
We a l s o havc from formula (1.1):
sqal (A o M)= sqal (Mo A).
By u s i n g t h i s r e l i t i o n , one can show t h a t :

11' The s c a l a r p a r t o f a q u a t e r n i o n p r o d u c t does n o t change

w i t h c y c l i c p e r m u t a t i o n of t h e f a c t o r s .
 By c o n s i d e r i n g t h e e q u a l i t y :
i aqal [A 0 (M0 N)] = sqal [(bf 0 N) 0 A] =
t
t
f we o b t a i c t h a t :
= sqal [M0 (N 0 A)] = sqal [(No A) o MI,

$
F

iI 12O
sqal[AoMoK]--sqal[M oNoA]=sqal[NoAoM].

The f o l l o w i n g q u a t e r n i o n dencted by
(1.2)

i s the conjugate
-
2
5 of t h e given q u a t e r n i o n A:

ke One can s e e t h a t t h e conjugate of t h e sum of q u a t e r n i o n s e q u a l s

I t h e sum of t h e c o n j u g a t e s , i . e . :

i
$
eE Since t h e v e c t o r p a r t s cf t h e quaterniofis A and & d i f f e r i n
$. s i g n , i t follows from p r o p e r t y 10' t h a t :
:

This product i s c a l l e d t h e norm of t h ? q u a t e r n i o n A and i s

i denoted by I I A I I . It f o l l o w s from t h e m u l t i ~ l i c a t i o nformula ( 1 . 1 )
ft$ that :
i-
13O ~ ~ ~ = ~ o ~ = h o h = ~ + ~ ~ + ? ~ - t h f .

Thus, t h e norm of a q u a t e r n i o n i s a s c a l a r ; 11 A ( ( = 0 i f and -

/16 :

only i f h = A t = h s = b = O i . When t h e norm 1 / A 1 1 = 1 , t h e q u a t e r n i o n %

i s c a l l e d normalized.

By examining t h e product (1.1), one can s e e t h a t changing t h e -

-
s i g n s of t h e v e c t o r p a r t s of t h e f a c t o r s changes t h e s i g n f o r t h e
terms with X o and po and does n o t change t h e s i g n of t h e d e t e r m i n a n t . g

-.
i
b

By i n t e r c h a n g i s g t h e r o w s of X and u, we o b t a i n t h e q u a t e r n i o n whose
&
.
f:
v e c t o r p a r t h a s changed s i g n : ( A ) It i s e v i d e n t t h a t i t i s 3I

* This i s not s a t i s f i e d f o r b i q u a t e r n i o n s .
E:
*
I
o b t a i n e d by m u l t i p l y i n g 6 by i:
7

l4O ( h o 3 f ) - f i 0 i , , +.e., t h e corrjugate o f t h e product o f two

q u a t e r n i o n s e q u a l s t h e product of t h e i r c o n j q a t e s t a k e n i n t h e
reverse order.

By u s i n g t h e o b t a i n e d r u l e , w e f i n d t h e v a l u e o f t h e norm of
a product :
-
150 ~ A ~ M ~ = A ~ M ~ ( A. ~ ~ M o, = ~ o ~ o r i = ~=
-
o f i ~ ~ o l ~
=9MOoUAL s i n c e l l B l I l i s a s c a l a r . Hence, i t follows t h a t t h e norm
of t h e product o f two q u a t e r n i o n s e q u a l s t h e product o f t h e norms
of t h e f a c t o r s .

I t can be shown by i n d u c t i o n t h a t t h e p r o p e r t i e s 14O and lSO

are preserved f o r n f a c t o r s :

(Al*A2~
-
... O : \ ~ ) =-A ~ O- A , - ~... -
O *A,, (1.3)
0A,oA*o ...oAnil=lA18UA21...I&b (1.4)
The f o l l o w i n g can a l s o be o b t a i n e d from t h e o b t z i n e d pro-
p e r t ies :

16O The p r a d u c t o f two q u a t e r n i o n s e q u a l s z z r c only i f one

of t h e f a c t o r s equals zero.

A c t u a l l y , i f A c M = O , t h e n IAoMI=O , hence ~ h l l ~ ) f l = O .
S i n c e 11411 and l l M l l a r e s c a l a r s , t h e n t h e l a s t r e l a t i o n i n d i c a t e s
t h a t e i t h e r IIhll=0 o r I l ~ l l = O , which i s p o s s i b l e i f A=O o r M=0
r e s p e c t i v e l y . It follows from t h i s sane p r o p e r t y t h a t t h e product /17 - . "
o f normalized q u a t e r n i o n s i s a l s o a no,malized q u a t e r n i o n .
t
f
Let two known q u a t e r n i o n s A and M be given and t h e q u a t e r n i o n
-2d
N be d e f i n e d as t h e r e s u l t o f t h e i r m u l t i p l i c a t i o n , i . e . :
i By e q u a t i n g t h e elements f o r t h e u n i t s il, i 2 , i i n the rnultipli-
3
c a t i o n formula (1.1), w e have:

if t h e q u a t e r n i o n s N and A ( o r N) a r e s p e c i f i e d , t h e n t o
t determine t h e q u a t e r n l ~ nI4 ( o r A ) i t i s necessary t o d e f i n e t h e
f
i operation of quaternion division.
i
f
1 I n t h e coordinates t h i s operation is equivalent t o solving
t
t h e s y s t e ~of l i n e a r a l g e b r a i c e q u a t i o n s (1.5) f o r t h z unkncwn
1.
ui ( o r Ai); s o l u t i o n o f t h e s y s t e m i s p o s s i b l e i f t h e determinant
5
o f t h e s y s t e m daes n o t e q u a l zero.
t
L
f If A is a q u a t e r n i o n n o t e q u a l i n g zero, i . e . IAlPO., then

f f o l l o w i n g t h e d e f i n i f i o n of t h e norm 13O, w e o b t a i n :

17O The q u a t e r n i o n A-I=--

a f o p which t h e e q u a l i t y :
IAi

AOA-'-A-'OA=I.

i s s a t i s f i e d i s c a l l e d She i n v e r s e o f t h e g i v e n q u a t e r n i o n A.

Hence, t h e e q u a t i o n N = AoM can be s o l v e d f o r t h e unknown

Pl i n t h e f o l l o w i n g manner: we m u l t i p l y t h e given e q u a l i t y from
t h e l e f t by A-' , as a r e s u l t o f which we o b t a i n :

For A unknown, we o b t a i n by a n a l ~ g y :
 The s o l u t i o n found corresponds t o t h e s o l u t i o n o f t h e system /18
of l i n e a r equations (1.5).

It should be noted t h a t t h e formulae f o r o b t a i n i n g A and n

are n o t symmetric; t h i s i s r e l a t e d t o t h e noncommutativity of
m u l t i p l i c a t i o n . For t h i s r e a s o n it is impossibl2 t o use a symmetzic
N N
n o t a t i o n f o r allacernion d i v i s i o n i n t h e form o r g . We n o t e
a l s o t h a t t h e o b t a i n e d s o l u t i o n s a r e lmique, because i f t h e r e were
a n o t h e r s o l u t i o n , f o r example 1\11 = A ' L N , t h e n t h e r e l a t i o n
. ~ O ~ ~ , = ~ would S O M be t r u e , i . e , Ao(!U,-M)=tO. Hence, i+,f o l l o w s
that M,-M=0 ( c f . 16O).

P r o p e r t y 15O i n d i c a t e s t h z t i f M==A-I=N , then t h e i r norms

s a t i s f y t h e e q u a l i t y ~ M R =la1 -
.'

The i n v e r s e of a q u a t e r n i o n product i s found i n t h e f o l l c w i n g

manner:

and :

We now c o n s i d e r t h e product of q u a t e r n i o m having z e r o s c a l a r

p a r t s , i . e . t h e product of "vectors". I n accordance w i t h t h e
m u l t i p l i c a t i o n formula i l . l ) , w e o b t a i n :

L o p e - A1~1-b-1$3+
i1
4 hh
h 3

PI k I
4 I rn

The s c a l a r and v e c t o r p a r t s o f t h e o b t a i n e d product e q u a l :

snal(Lo~)= - (ZIP,+ sr*+W
and :

I n o r d e r t o have a geometric i n t e r p r e t a t i o n i n t h e t h r e e - -
/19
dimensional b a s i s il, i 2 , i 3 ( F i g u r e 1 . 2 ) , w e s e t :

L = MI, p = p (i, cos 6 + i2sine).

The product of t h e s e q u a t e r n i o n s e q u a l s :

Lop=Ap(-cosd+4sinQ),
hence, we have :

sqal (L 0 p) = - Ap cos 6,
vect (L 0 p) =i&p sin Q.

By examining t h e right-handed orthogo-

''4
n a l system of axes il, i2, i3 ( c f . F i g u r e 1 -2),h
one can s e e t h a t t h e s c a l a r and v e c t o r
r ~ o d u c t sof two v e c t o r s a s understood
i n ordinary vector algebra a r e equal
respectively t o :

(1.7) F i g u r e 1.2.

' ;hepoint w i l l i n d i c a t e t h e s c a l a r product,

the sign X -
t h e v e c t o r p r o d u c t , and t h e
-
sign o quaternion multiplication).

I n t e r c h a n g e of t h e f a c t o r s does n o t change t h e s c a l a r p a r t
o f t h e p r o d u c t , b u t changes t h e d i r e c t i o n of t h e b a s i s v e c t o r i 3 '
dence, i t f o l l o w s t h a t :
spa1 (L p) = sqal (p 0 A),
0 vect (X 0 p) = - vect (y 0 A).
 One can o b t a i n from t h e s e r e l a t i o n s :

By u s i n g t h e symbols f o r t h e s c a l a r and v e c t o r p r o d u c t s , we
p r e s e n t t h e formula f o r m u l t i g l y i n g two q u a t e r n i o n s (1.1) i n t h e
following form:
Lop= -A - r + A X r .
AoM=l&-A,-p+@+;roA+AXp. 1
These r e l a t i o n s e s t a b l i s h t h e correspondence between v e c t o r a l g e b r a /20
and q u a t e r n i o n a l g e b r a .

I n conclusio?, we examine t h e formula f o r n u l t i p l y i n g t h r e e

vectors.

Turning t o ( 1 . 2 ) , w e o b t a i n :

- sqal(Aop~v)=sqal(p~voA)=sqal(voL~p).

Since ( A o p o v ) - - ( - v ) o ( - ~ ) o ( - ~ ) = - v o ~ o ~ and t h e s c a l a r p a r t s of
a q u a t e r n i o n and i t s c o n j u g a t e coincide, and t h e i r v e c t o r p a r t s
d i f f e r i n sign, the following e q u a l i t i e s a r e t r u e :
-_I

sqal(Lopov)=sqa!(A~p~v)= - s ~ ~ ~ ( v o ~ o L ) ,

5 1.2. SPHERICAL REPRESENTATION OF QUATERNIONS

Any q u a t e r n i o n w i t h r e a l elements:
h=b+X,f,+M+Ad,
can be r e p r e s e n t e d i n t h e f o l l o w i n g form:

where A = ~ ~ + ? ~ + ~ + A ~ = i ~s ~c a =l l e~d At h eI t e n s o r of t h e
g i v e n q u a t e r n i o n . It i s e v i d e n t t h a t t h e t e n s o r of t h e u n i t qua-
t e r n i o n e q u a l s one. The q u a n t i t y x+x % r is c a l l e d t h e versor of
t h e q u a t e r n i o n ; t h e meaning of t h e v e r s o r w i l l be e x p l a i n e d l a t e r .
For now, we n o t e only t h a t i t is a q u a t e r n i o n whose norm e q u a l s
one. We introduce t h e u n i t vector C directed along t h e vector A:
- -

Then t h e v e c t o r p a r t o f t h e v e r s o r can be w r i t t e n i n t h e form:

Noting t h a t t h e s q u a r e o f t h e s c a l a r p a r t o f t h e v e r s o r and /21

t h e s q u a r e of t h e c o e f f i c i e n t of t sum t o one, w e i n t r o d u c e t h e
following variables :

With t h i s n o t a t i o n t h e q u a t e r n i o n (1.10) can b e r e p r e s e n t e d

i n t h e f o l l o w i n g form:

A =A (cos6 + c sin 6). (1.11)

I n t h e e x p r e s s i o n f o r t h e q u a t e r n i o n (1.11) t h e s i g n of t h e
a n g l e 6 i s determined by t h e s e l e c t i o n of t h e s i g n f o r t h e u n i t
v e c t o r g , i.e., t h e choice of ' t s d i r e c t i o n ( i n f a c t , t h e s i g n 2
s h o u l d have been p l a c e d i n t h e e x p r e s s i o n s f o r and s i n 6); f o r
now, we w i l l n o t e s t a b l i s h a unique c h o i c e f o r t h e p o s i t i v e d i r e c -
t i o n i n measuring t h e a n g l e 6 and f o r t h e p o s i t i v e d i r e c t i o n of
the unit vector f.

R e p r e s e n t i n g t h e q u a t e r n i o n i n t h e form (1.11) i s convenient

i n t h a t t h e r o o t s o f t h e e q u a t i o n A ~ = Mcan t h e n be found e a s i l y .
Actually, since f o g a % = - 1 (which can be v e r i f i e d by d i r e c t
calculation) :
A~=A~A-~1P(~0~6+~sin~)~=~~(cos26+~sin26)

and t h e de Moivre formula i s v a l i d f o r any power n :

An = An (cos nf3 + 6 sin n6).
 S o l u t i o n o f t h e e q u a t i o n A"=N i s p o s s i b l e when t h e v e c t o r y
i s d i r e c t e d a l o n g t h e v e c t o r c; i n t h i s c a s e t h e s o l u t i o n i t 7 e l f
i s analogous t o t h e s o l u t i o n of t h e s i m i l a r e q u a t i o n i n t h e t h e o r y
o f complex v a r i a b l e s , and w e w i l l n o t d i s c u s s i t h e r e .

R e p r e s e n t i n g t h e q u a t e r n i o n i n t h e form (1.11) p e r m i t s one t o

o b t a i n a c l e a r g e o m e t r i c i n t e r p r e t a t i o n of t h e q u a t e r n i o n .

e consider t h e normalized quaternion:

W
A=cos6+6sin8.

T h i s q u a t e r n i o n can b e r e p r e s e n t e d i n t h e form of a p r o d u c t
o f a c e r t a i n two v e c t o r s boa-' s a t i s f y i n g t h e f o l l o w i n g c o n d i t i o n s :

2) t h e a n g l e bet wee.^ t h e v e c t o r s a and b e q u a l s 6;

3) t k e p l a n e of ab i s p e r p e n d i c u l a r t o t h e u n i t v e c t a r t ; -
/22

4 ) t h e v e c t o r s a, b , form a r i g h t - h a n d e d system c f a x e s
(Figure 1.3).

Keeping p r o p e r t y 1) i n mind, we can w r i t e :

A=c~s@+~sin0=- ob cot # + tab sine
1.1
The q u a n t i t i e s ab c o s 6 and cab s i n 6 can b e r e p r e s e n t e d i n
t h e form of t h e s c a l a r a n d v e c t o r p r o d u c t s aob and a ~ br e s p e c t i v e l y
( t h e r e s u l t a n t of t h e vector product I n t h e right-handed coordinate
system i s d i r e c t e d a l o n g t h e v e c t o r t ) .

Hence, we o b t a i n :

P -- sqal (boa) 101

-
+ vect (baa) =---=--b O a , b o a - ~ .
Irl 1.1
 It f o l l o w s frqm F i g u r e 1 . 3 t h a t when t h e v e d t o r s a, b ,
form a r i g h t - h a n d e d c o o r d i n a t e system, t h e a n g l e -a (n is
measured from a t o b c o u n t e r c l o c k w i s e a s viewed from t h e p o s i t i v e
c a x i s . The d e f i n i t e n e s s t a k e n h e r e f o r t h e c h o i c e o f t h e p o s i t i v e
d i r e c t i o n o f t h e u n i t v e c t o r c and t h e c o r r e s p o n d i r g p o s i t i v e
d i r e c t i o n f o r measuring t h e a n g l e 6 i s s p e c i f i e d o n l y by t h e r u l e s
f o r t h e v e c t o r m u l t i p l i c a t i o n o f t h e v e c t o r s a and b; i n p r i n c i p l e ,
one c o u l d t a k e t h e o p p o s i t e d i r e c t i o n f o r m e a s u r i n g 6 ; e t c . How-
e v e r , t h e c o n v e n t i o n e s t a b l i s h e d h e r e w i l l be f o l l o w e d h e n c e f o r t h .

It f o l l o w s from r e l a t i o n ( 1 . 1 2 ) t h a t t o e a c h n o r m a l i z e d
q u a t e r n i o n A one can s e t i n correspondence a n a r c o f a g r e a t c i r c l e
on a s p h e r e o f r a d i u s a = b , which h a s t h e d i r e c t i o n o f t h e p o s i t i v e
a n g l e 6 and j o i n s t h e ends o f t h e v e c t o r s a and b ( c f . F i g u r e 1 . 3 ) .
Thus, t h e q u a t e r n i o n A can be uniq: l y r e p r e s e n t e d by t h e a r c of
a g r e a t c i r c l e a r c A , whose p l a n e i s determined by t h e v e c t o r 5 , /23
and l e n g t h - by t h e a n g l e 6 . The d i r e c t i o n o f t h e q u a t e r n i o n i s
s p e c i f i e d by t h e d i r e c t i o n of t h e v e c t o r <; t h e p o s i t i o n o f t h e
a r c A on i t ? g r e a t circ'e i s a r b i t r a r y , i . e . t h e a r c i s s l i d i n g
(with an a r b i t r a r y o r i g i n ) .

We c o n s i d e r some p a r t i c u l a r c a s e s .

When * = 0 o r 6 = z,, t h e q u a t e r n i o n A = l o r A = - 1 r e s p e c t i v e l y ,
and t h e v e c t o r 5 can have a n a r b i t r a r y d i r e c t i o n . T h i s c a s e i s
t h e e x c e p t i o n , s i n c e A = l c o r r e s p o n d s t o any p o i n t on t h e s p h e r e
and A = - 1 - t o any h a l f c i r c l e . The u n i t v e c t o r 5 c o r r e s p o n d s t o
o n e - q u a r t e r of a g r e a t c i r c l e . I f a r c A = s/S c o r r e s p o n d s t o t h e
quaternion A, then t h e inverse, i . e . t h e conjugate, quaternion
-,
A-' = = cosO-f sin6 c o r r e s p o n d s t o arc ih e q u a l i n g t h e a r c
( i . e . t h e a r c i n t h e o p p o s i t e d i r e c t i o n , because such a d i r e c t i o n
of t h e a r c i n t h i s case i s p o s i t i v e with r e s p e c t t o t h e v e c t o r c ) .
The q u a t e r n i o n -A c o r r e s p o n d s t o t h e q u a t e r n i o n :
-cos6-6sin6=cos(n-6)-fsin(rt-8),
i.e. the arc ( c f . F i g u r e 1 . 3 ) r u n n i n g from t h e d i a m e t r i c a l l y
o p p o s i t e p o i n t dt t o t h e p o i n t 9 . .

We now c o n s i d e r t h e o p e r a t i o n o f q u a t e r n i o n m u l t i p l i c a t i o n
and f i n d i t s r e p r e s e n t a t i o n on t h e s p h e r e .

L e t t h e u n i t q u a t e r n i o n s A and M b e g i v e n . Both o f t h e s e
q u a t e r n i o n s can be r e p r e s e n t e d i n t h e form o f ( 1 . 1 1 ) and i n t h e
form o f a r c s of g r e a t c i r c l e s o f a p p r o p r i a t e l e n g t h s . The a r c
o f t h e q u a t e r n i o n a r c A i s p l a c e d on t h e g r e a t c i r c l e p e r p e n d i c u l a r
t o t h e v e c t o r A; t h e a r c a r c M - on t h e g r e a t c i r c l e d e f i n e d by
t h e v e c t o r p. We s e t t h e end o f t h e a r c a r c A and t h e o r i g i n o f
t h e a r c a r c M a t t h e p o i n t of i n t e r s e c t i o n of the c i r c l e s
(Figure 1.4).

Sy i n t r o d u c i n g t h e v e c t o r s a , b , c, w e o b t a i n :
,\ = b o a-1, a1 = a o c-'.

The a r c of t h e g r e a t c i r c l e j o i n i n g t h e p o i n t s W and S,
d e f i n e s some q u a t e r n i o n N = boc-I .
It i s e v i d e n t t h a t :
N=boc-l=boa-loao~-'=AoM,
i . e . t h e q u a t e r n i o n p r o d u c t c o r r e s p o n d s t o t h e g e o m e t r i c sum o f
t h e a r c s on t h e s p h e r e : a r c M + a r c A = arc(Ao1f) .
S i n c e t h e q u a t e r n i o n A i s a s l i d i n g a r c on t h e s p h e r e , P a l s o
e q u a l s aOf-I ( t h e ang1.2~ and a r e e q u a l and a r e d e t e r -
mined by t h e a n g l e 6 ) ; by a n a l o g y t h e q u a t e r n i o n 11 c o r r e s p o n d s t o
doa-'. Hence, i t f o l l o w s t h a t t h e p r o d u c t M . A = d 0 a-lo a of-'=d o f
c o r r e s p o n d s t o t h e a r c F0 r e p r e s e n t i n g t h e q u a t e r n i o n N t = M o A , i . e . :

arc A + arc M = arc (M A).

I t i s p a r t i c u l a r l y c l e a r l y s e e n h e r e what happens when t h e
'j
f a c t o r s a r e permuted i n q u a t e r n i o n m u l t i p l i c a t i o n . v

/s

15
 @arn4
?3
F i g u r e 1.3.

arc

F i g u r e 1.5.
F i g u r e 1.4.

Figure 1.6.

By analogy we have f o r t h e geometric sum of t h r e e a r c s of

g r e a t c i r c l e s A , M and N ( F i g u r e 1 . 5 ) :
arcN+archl+arcA=arc(honIo~),
since :

Thus, t h e v e c t o r sum of s e v e r a l a r c s of g r e a t c i r c l e s , each

of which i s s p e c i f i e d by a q u a t e r n i o n , g i v e s t h e a r c o f t h e g r e a t
c i r c l e which i s determined by t h e product o f t h e s e q u a t e r n i o n s i n
reverse order.

It f o l l o w s from t h e c o n d i t i o n t h a t a p o i n t on t h e s p h e r e
corresponds t o a q u a t e r n i o n e q u a l i n g z e r o t h a t f o r a c l o s e d s p h e r i -
cal triangle : -
/25
arcN+arcM + a r c ~ = 0 ,
 arcAoMoN-0 and AoMoN-1.

I n gevieral, a r c s , which r e p r e s e n t t h e c y c l i c a l l y a r r a n g e d
quaternions A2, . . ., form a c l o s e d polygon i f and o n l y i f :
A h ,

... o A l = l .
A,OA,,~~

The r e p r e s e n t a t i o n 02 q u a t e r n i o n s i n t h e form o f a r c s on a 1
s p h e r e p r e s e n t e d i n t h i s p a r a g r a p h i s very u s e f u l i n many c a s e s .
A s an example, w e d e r i v e t h e t r i g o n o m e t r i c formulae of a s p h e r i c a l
t r i a n g l e . Let t h e following be given f o r t h e t r i a n g l e (Figure
1.6) :
arcA+arc~l==arcN=arcMo~,

where a , 8 , y a r e t h e a r c l e n g t h s o f t h e q u a t e r n i o n s A , M 2nd H. . .

We n o t e t h a t :
p~L=-p.I+pxA-: -k.p-kXp=cos&--asind,
1

where ( n - & ) i s t h e a n g l e between t h e v e c t o r s and A , i . e . , t h e , .

a n g l e a t t h e apex a of t h e t r i a n g l e e q u a l s sd ( c f . F i g u r e 1 . 6 ) . ,
. .
.

, ,
By p e r f o r m i n g t h e m u l t i p l i c a t i o n i n ( 1 . 1 3 ) and e q u a t i n g t h e ,3, '

s c a l a r p a r t s , we o b t a i n a t once t h e well-known law of c o s i n e s : .,

.,
cos y = cos $ cos a + sir1 $ sin a cos sC. j
.
1

, "

By e q u a t i n g t h e v e c t o r p a r t s o f t h e p r o d u c t , we o b t a i n : -/26. ;,
* !
9

p sin@cosa+ Asinacosb-asinsrtsin$sina=vsin y, :. -;
. . 1

17
3 .
'i

-7 :'
 We t a k e t h e s c a l a r p r o d u c t of t h i s e q u a l i t y w i t h a; s i n c e
a - p = a . ) c = O and a * a - l , we o b t a i n :
sinstsin$sino= - a . v s i n y = - a - ( b x c ) ,
since vsiny-bxc .Hence:
sin sC a* ( ~ X C )
sin y sin a sin $ sin y '

The l a s t p r o d u c t d c e s n o t change w i t h c y c l i c p e r m u t a t i o n of'

t h e v e c t o r s and a n g l e s , c o n s e q u e n t l y , I:ie hsve tlie well-known law
of s i n e s :
--
sin& s i n g - sin @
'
sin y -X j T -XX'*

1.3. TRANSFORMATION OF ROTATIONS

F i n i t e r o t a t i o n s ( t r a n s f o r m a t i o n s ) i n s p a c e can b e r e p r e s e n t e d
by q u a t e r n i o n a l g e b r a i n a s i m p l e and convenient form. Such a
r e p r e s e n t a t i o n i s b a s e d on t h e f o l l o w i n g fundamental theorems
C26, 4 9 , 661.

Theorem 1.1. Let A and R b e n o n s c a l a r q u a t e n i o n s ; t h e n t h e

quantity:

i s a q u a t e r n i o n , whose nor,,i and s c a l a r p a r t e q u a l t h e nor- a,.

s c a l a r p a r t of R. The v e c t o r p a r t R v i s o b t a i n e d by r o t a t i n g R
on a cone about t h e a x i s v e c t A by t w i c e t h e a n g l e o f A . Thus, i f :

t h e n v z c t R ' i s o b t a i n e d by r o t a t i n g v e c t R about t h e a x i s 6 by
t h e a n g l e 6.

P r o o f . I n accordance w i t h t h e p r o p e r t i e s of t h e n o r n ~ , we have
f o r t h e norm o f R ' :
 0

d By u s i n g t h e p r o p e r t y ( 1 . 2 ) , we o b t a i n by a n a l o g y : -
/27

sgal Pf=sqal (A 0 R 0 A-')=sqal (A" a A ~ ) . = R.

~ ~ ~ l (1.16)
L.

Moreover, by w r i t i n g R i n t h e form R = r o + r , we o b t a i n f o r m u l a
C ( 1 . 1 4 ) i n t h e f o l l o w i n g form:

and:
R' =ro + r',
i . e . , t h e o p e r a t i o n ( 1 . 1 4 ) changes o n l y t h e v e c t o r p a r t of t h e
q u a t e r n i o n R:
w e t (A 0 R 0 A-') = A 0 (vect R) .*-I
or:
rf=Aoroh-I.

We decermine the n a t u r e o f t h e t r a n s f o r m a t i o n of t h e v e c t o ?
i.
p a r t of khs q u a t e r n i o n ( 1 . 1 7 ) . We r e p r e s e n t t h e q u a t e r n i o n R i n
t h e form ( 1 . 1 1 ) :
R=I RI(coscp-f esincp)=
= R (cos cp + e sin cp).
Then, i n accordance wiLh ( l . l 7 ) , we h a v e :
vect #= r f =
=Ao(~esin~)oA"==
=Rsincp(A 0 e 0 A-I) =Ref sin tp.
t
$,

I I n o r d e r t o show t h e g e o m e t r i c e s s e n c e o f khe t r a n s f c r m a t i s n
k of t h e u n i t v e c t o r E * , we s e t ( F i g u r e 1 . 7 ) :
+
t = i, cos $ ipsin 9,

and d i r e c t t h e v e c t o r of t h e q u a t e r n i o n A a l o n g t h e il a x i s , .i . e .
g=il, then:

tf= A ~ ~ ~ A - ' = ( A O ~ ~ O A - ' ) ~ ~ S ( I ':sin@.

,+(A~~~OA

- 4

-
ey'-

1 i
 S i n c e v e c t A and il a = p a r a l -
l e l , then AO~,OA"= .\oh-'oi,=f, .
We have f o r i2:
:.o~,oA-' =(cosf * + i I s i n 9T ) o ~ o ( c mdT - i I sin3)= Q

-(i2cos2 * +i,sin+)o(cooy-i,
* Q
sinT)= Q

= = k ( c d fd - s i 1 $ $ ) + ~ ( 2 s i n ~ s*i n g ) .
Figure 1.7.
i.e. t h e basis v e c t o r i2becomes t h e
basis v e c t o r :
ri---i,mQ +1,sinQ.
o b t a i n e d by r o t a t i n g t h e b a s i s v e c t o r i2 about t h e a x i s il ( i .e.,
about t ) by t h e a n g l e 3 i n the p o s i t i v e d i r e c t i o n . Correspondingly,
t = i ~ c o s * + i , s i n g becores:
e'= i, cos + ii sing,
i . e , i t p e r f o m s a r o t a t i o n on a cone w i t h ;;he a x i s 5 by t h e
angle G

T ~ u s ,i t has been shown t h a t w i t h t h e t r a n s f o r m a t i o n (1.14)

t h e v e c t o r p a r t of R i s r o t a t e d on a cone about t h e a x i s v e c t A.

The o p e r a t i o n (1.14) changes only t h e v e c t o r p a r t o f t h e qua-

t e r r ~ i o n ; f o r t h i s r e a s o n one can c o n s i d e r i t a s an o p e r a t i o n t r a n s -
forming t h e v e c t o r r i n t o t h e v e c t o r r v , which i s w r i t t e n i n t h e
form (1.18). Since t h e norm of t h e q u a t e r n i o n i s not changed by
t h e t r a n s f o r m a t i o n ( 1 . 1 5 ) , t h e l e n g t h of t h e v e c t o r ( i . e . , i t s
magnitude r = V ~ ~ 1 - - 3 = ) I r : + r ; + r 3 a l s o remains c o n s t a n t :

Thus, it follows t h a t t h e t r a n s f o r m a t i o n (1.18) i s an o r t h o -

gonal t r a n s f o r m a t i o n . According t a t h e E u l e r theorem [16], any
orthogonal t r a n s f o r m a t i o n i s a r o t a t i o n about some a x i s . The
transformatior, ( 1 . - -1 d e f i n e s a t once t h e a x i s of t h i s r o t a t i o n :
t h i s a x i s i s v e c t A=X, s i n c e only t h i s a x i s i s n o t changed by t h e
transformat+on:
 I n accordance w i t h t h i s w e w i l l c a l l t h e o p e r a t i o n s (1.18) -
/2 9
and (1.14) r o t a t i o n s o p e r a t i o n s ( t r a n s f o r m a t i o n s ) .

W e w i l l g i v e t h e c o o r d i n a t e e x p r e s s i z ? of t h e t r a n s f o r m a t i o n
(1.14). Let:
R=ro+rri1+rjt+rJ3. I=r6+riil+r%+r&
and :

Performing t h e m u l t i p l i c a t i o n ~f (1.14) and e q u a t i n g t h e terms

f o r t h e f o u r u n i t s , we o b t a i n t h e e x p r e s s i o n f o r t h e components o f
t h e q u a t e r n i o n Rt i n t h e form of a l i n e a r f u n c t i o n o f t h e components

3ne can v e r i f y t h a t t h e determinant 01 --le t r a n s formation o f t h e

components o f t h e v e c t o r part^ o f t h e q u a t e r n i o n e q u a l s one.

When t h e q u a t e r n i o n A s p e c i f y i n g t h e r o t a t i o n t r a n s f o r m a t i o n
i s a normalized q u a t e r n i o n ( ~ A U = A *1=and A-'=K), t h e opera-
t i o n s (1.14) and (1.18) a r e w r i t t e n i n t h e form *:

* When A i s n o t a u n i t q u a t e r n i o n , t h e t r a n s f o r m a t i o n (1.20) g i v e s
a more g e n e r a l form of a s p a t i a l t r a n s f o r m a t i o n : r o t a t i o n and d i l a -
t a t i o n ( t h e magnitude of t h e l a t t e r i s determined by b2).
Hence, A has o b t a i n e d t h e d e s i g n a t i o n o f space t e n s o r
( " s t r e t c h e r " ) and A/A - v e r s o r ( " t u r n e r " ) ; hb. > v e r , t h e s e names
a r e z z l s c g e r used, s i n c e a b r o a d e r meaning i s i n c l u d e d i n t h e con-
c e p t of a t e n s o r . We w i l l c a l l t h e q u a n t i t y A t h e magnitude of
t h e quat e r n i on.
 Q Q
L e t h=cosT+ EsinT be a normalized quaternior,. The form
l o x czn be c o n s i d e r e d a s a r o t a t i o n o p e r a t o r s p e c i f i e d by
t h e q u a t e r n i o n A; by r o t a t i o n o p e r a t i e n d e f i n e d by A w e w i l l mean /30 .
j u s t t h i s operator. W e w i l l a l s o say t h a t t h e q u a t e r n i o n A
s p e c i f i e s a r o t a t i o n by t h e a n g l e 6, meaning by t h i s t h e o p e r a t i o n
<1.20).

The o p e r a t o r h a ( determines a r o t a t i o n by an angle 8 .

- -
Let u s c o n s i d e r t h e q u a t e r n i o n (-A); s i n c e (-A)= -A , then t h e
rotztio~s ) O K and (-.\)of
-
) o ( - ~ j g i v e e x a c t l y t h e same r e s u l t .

The q u a t e r n i o n :

s p e c i f i e s a r o t a t i o n by t h e a n g l e 2%-8 about t h e a x i s -c, i.e., in

t h e o t h e r d i r e c t i o n ; i t becomes obvious t h a t t h e r e s u l t o f such
a r o + , a t i o n i s e x a c t l y t h e same as t h e r e s u l t o f a r o t a t i o n by t h e
angle U a b o ~ i tt n e a x i s 5.

-A 3 ( S i n c e t h e r o t a t i o n , ~ O A O )( o x o h = l o ( ) e l , t h e n t h e r o t a t i o n
l o A s p e c i f i e s a r o t a t i o n i n t h e o p p o s i t e d i r e c t i o n by t h e
a n g l e 9 , which i s obvious b e s i d e s , s i n c ~ :

Let t h e normalized q u a t e r n i o n A s p e c i f y a r o t a t i a n by t h e
a n g l e 8 about t h e a x i s A, and t h e normalized q u a t e r n i o n N a -
~ o t a t i o nby t h e a n g l e y about t h e a x i s p. The sequence of r o t a t i o n s
A and I4 corresponds t o t h e o p e r a t o r :

Since M o A i s a l s o a normalized q u a t e r n i o n , say:

~ o ~ = c o s ~ + v s i n ~ .
t h e n t h e r e s t 1 l t o f t h e two s u c c e s s i v e r o t a * - I o n s i s equiva:.2r-t t ?
one r o t a t i o n by t h t a n g l e $I a b o u t t h e a x i s v; t h e a x i s of tlia
r e s u l t i n g r o t a t i o n and t h e a n g l e are found fror11 t h e coFKor:trl ; o f
t h e r e s u l t i n g quaternion according t o t h e r u l e s of t h e ' r a u l t l p l i -
cation (1.5).

Thus, t h e r o t a t i o n A and a f o l l o w i n g r o t a t i o n M are e . q u i v a l e n t

t o one r o t a t i o n M o A . I n g e n e r a l , t h e sequence o f r o t a t i o n s -
/ 31
Al,A, ...,A, i s e q u i v a l e n t t o one r a t a t i o n Anonn-10 -. o & o h l . .
e w i l l c o n s i d e r scme p a r t i c u l a r examples.
W

I f A=A, i.e. 0=9p , then t h e vector:

- -
e * = ~ o c okoc.a
~ ~
i s o b t a i n e d by r o t a t i n g e by 180 on a cone a b o u t t h e a x i s A.
Thus, t h e t r a n s f o r m a t i o n - - l o ( ) * A g i v e s -r v e c t o r symmetric t o t h e
f i r s t r e l a t i v e t o t h e a x i s A ( F i g u r e 1.8). The t r a n s f o r m a t i o n
l o () * A g i v e s a v e c t o r o p p o s i t e t o t h e v e c t o r --A*:( ) o A , i.e.,

i t can be c o n s i d e r e d a s a m i r r o r r e f l e c t i o n r e l a t i v e t o t h e p l a n e
perpendicular t c A.

The sequence of t w L m i r r o r r e f l e c t i o n s d e f i n e d by t h e v e c t o r s
A and p ( i . e . , t h e sequence o f r o t a t i o n s k c i ) O X and Po( )*P ) i s
e q u i v a l e n t t o one s p e r a t o r :
poXo( )=Xop=p*Ao( )o(po~).)",
s p e c i f y i n g ;.he r o t a t i o n . 3 u t s i n c e C O X = = - I ~ - A - X X ~ ,t h e n :
p o l = -coscp-bsincp=-(cos~.-:-bsincp),
where cp i s t h e a n g l e between t h e v e c t o r s A and v.

Hence, i t f o l l o w s t h a t a sequence of two m i r r o r r e f l e c t i o r s

r e l a t i v e t o two p l a n e s i s e q u i v a l e n t G O a r o t a t i o n about t h e i i n e
of i n t e r s e c t i o n of t h e p l a n e s by t w i c e t h e a n g l e between them.
 R e c a l l i n g t h e r e p r e s e n t ~ t i o no f t h e u n i t q u a t e r n i o n as a n a r c
of a g r e a t c i r c l e on t h e u n i t s p h e r e , whose p o l e i s L ~ ?ve-'or o f
t h e q u a t e r n i o n , m e can s e e t h a t t h e r o t a t i o n o p e r a t i o n g i v e s a
r o t a t i o n d e f i n e d by t w i c e t h e a n g l e (i.e., t w i c e t h e a r c ) about
t h i s same p o l e .

Le.L us no:t c o n s i d e r a s p h e r i c a l polygon; l e t i t s s i 3 ~, g o i n g

around s e q u e n t i a l l y ( c y c l i c a l l y ) , r e p r e s e n t t h e q u a t s r n i o n s /S2
.%4 ..
- An ; i n a c c o ~ d a n c ew i t h t h e r e s b l - t s o f p ~ &graph , 1.2,
we h a l e :
hnoAn,lo ... ohl=l.

Since (hnoAm-lo ... oh,)= 1 , then the operator:

- - ... -
A,,oA8,,0 ... oA1a( )oA10A20 oA,=lo( )el,

i.e., such a sequence o f r o t a t i o n s A,, A,. ..., A, g i v e s t h e o r i g i n a l

s t a t e . Hence, t h e Hamilton-Donkin theorem, i n p a r t i c u l a r , f o l l o w s :

If Jm i s some s p h e r i c a l t r i a n g l e , t h e n t h e t h r e e s e q u e n t i a l
r o t a t i o n s d e f i n e d by t h e a r c s m, 2990 and 2ntS ( i . e . , r e l a t i v e
t o t h e i r p o l a r a x e s ) b r i n g s t h e body t o i t s o r i g i n a l s t a t e .

5 1.4. SPHERICAL GEOMETRY

The m u l t i p l i c a t i o n r u l e s f o r t h e hypercomplex u n i t s a r e
ob:ained i n a r a t h e r n a t u r a l manner: t h e s q u a r e s o f t h e imaginary
u n i t s e q u a l -1 and t h e product i , o i a can be s e t i n a n a t u r a l manner
e q u a l t o i3; t h e remaining m u l t i p l i c a t i o n r u l e s a r e o b t a i n e d from
t h e a s s o c i a t i v e property of m u l t i p l i c a t i o n *.
* A c t u a l l y , from t h e s e e q u a l i t i e s we o b t a i n by m u l t i p l i c a t i o n :
il~~il~i,)=il*il~(il.i,)*i~--i~
(i,*i2loi, -i,-i,-=l1*(1z*iz)
M u l t i p l y i n g t h e s e two e q u a l i t i e s :
-i,. -
(i,oi,)*(ls*i,)-i2*t,-il*(i,*is)*l,- -ll*i,=-i,,
( i , * i a ) * ( l , * t l ) - l , ~ i l- i , ~ ( i , ~ i s ) ~ i-l- , * l a e t c .
one can v e r i f y t h a t all the m u l t i p l i c a t i o n r u l e s o f t h e hypercom-
plex units are s a t i s f i e d .
 These r u l e s d e f i n e numbers, which have a double meaning:
on one hand, t h e y a r e some g e o m e t r i c forms ( v e c t o r s i n f o u r -
d i m e n s i o n a l s p a c e ) , and on t h e o t h e r , t h e y are t r a n s f o r m a t i o n
operators i n three-dimensional space. I n o r d e r t o i l l u s t r a t e
t h e s e p r o p e r t i e s of q u a t e r n i o n s , we w i l l now c o n s i d e r some problems
o f s p h e r i c a l geometry, which c o n t r i b u t e d h i s t o r i c a l l y t o t h e d i s -
covery of q u a t e r n i o n s .
Geometry on a s p h e r e r e s e m b l e s i n many r e s p e c t s geometry on /33
a p l a n e . Thus, i f s-9 and 93 a r e two p o i n t s on a s p h e r e , t h e n b y
analogy t o t h e segment on a p l a n e one can c o n s i d e r t h e q u a n t i t y
&A7=3--d, which i s u n d e r s t o o d as t h e d i s t a n c e b e t i ~ e e nt h e p o i n t s
sS a n d 9, i .e ., t h e a r c o f t h e g r e a t c i r c l e r u n n i n g from p o i n t d
t o point 9.

The concept o f t h e d i f , f e r e n c e o f two p o i n t s as t h e a r c j o i n i n g

t h e n a l s o i n c l u d e s t h e concept o f t h e sum; i t i s obvious t h a t :
(f9--&)+sC=9,
hence, it follows t h a t :

The meaning of t h e l a t t e r o p e r a t i o n c a n b e i n t e r p r e t e d a s : t h e
a r c sCJ s h i f t s t h e p o i n t st t o t h e p o i n t J . A new meaning i s
a l r e a d y b e i n g a t t r i b u t e d t o t h e a r c h e r e , t h a t i s , t h e meaning o f
an o p e r a t o r ; f o r t h i s r e a s o n t h e a r c i s a l s c c a l l e d t h e Yersor.

This d e f i n i t i o n a t t r i b u t e s a d e f i n i t e d i r e c t i o n t o the a r c
: from p o i n t s4 t o p o i n t I. B,t t h e a r c A?& i s u n d e r s t o o d t h e
a r c of t h e g r e a t c i r c l e r u n n i n g from p o i n t I t o p o i n t d , i . e . , t h e
a r c i n t h e o p p o s i t e d i r e c t i o n *: s i n c e JsC=.M--B and sCS+
+&z=I--sZ+sC-5 =. 0, t h e n gd=-d9 . T h i s d e f ' i ~ i t i o nof t h e
d i f f e r e n c e of p o i n t s i s s u f f i c i e n t t o s p e c i f y t h e a d d i t i o n and 2
d
-
s u b t r a c t i o n o f a r c s on t h e p l a n e .
r t i s obvious t h a t t h e r e a r e two a r c s r u n n i n g from p o i n t to
p o i n t a on t h e g r e a t c i r c l e . F o r now, we w i l l - n o t make a d i s t i n c -
t i o n between them. *a
 Figure 1.8. F i g u r e 1.9.

Let us c o n s i d e r t h e e q u a t i o n (d- ' B ) + ( W - 9 ? ) = ( & - 9 ) , which i s

w r i t t e n by d e f i n i t i o n a s :

i . e . , t h e sum of t h e two s i d e s of a s p h e r i c a l t r i a n g l e e q u a l s i t s
t h i r d s i d e (Figure 1.9).

Two a r c s w i l l be c o n s i d e r e d e q u a l i f and only i f t h e y l i e on

t h e same g r e a t c i r c l e , and t h e i r l e n g t h s and d i r e c t i o n s a r e e q u a l .
5 Equal a r c s can be superimposed by moving ?long t h e g r e a t c i r c l e /34 -
on which they a r e locaxed. By n o t i n g t h a t by t h i s d e f i n i t i o n
q -=%'# and -'df%'=%'~ ( c f . F i g u r e l . g ) , we o b t a i n by i n t e r c h a n g i n g
$
6 t h e terms i n e q u a t i o n ( 1 . 2 3 ) :
51 +
aw wd =w w dtw=d * ~ , +
. i.e.,we o b t a i n a new a r c n o t e q u a l i n g t h e a r c I s $ . . Hence, it
follows t h a t t h e a d d i t i o n of a r c s on a sphere i s noncommutative.
The a d d i t i o n of a r c s i s commutative only i f they l i e on one a r c of
a g r e a t c i r c l e : tnen t h e a d d i t i o n reduces t o a simple a r i t h m e t i c
sum.

The s u b t r a c t i o n of a r c s can be o b t a i n e d by a d d i t i o n w i t h a
change of s i g n of one term. Thus, l e t us c o n s i d e r t h e d i f f e r e n c e
Wd-N ( c f . F i g u r e l.g).; s i n c e 58(8=-WS , t h e n :
W&-~=Wd+W9=WslC+1'W=#J.
 W e set i n c o r r e s p o n d e n c e t o e a c h a r c i t s p o l e from which
t h e r o t a t i o n from p o i n t eaC t o p o i n t I i s viewed aE p r o c e e d i n g
c o u n t e r c l o c k w i s e . T h i s e s t a b l i s h e s t h e d i s t i n c 5 i o n between t h e
two p a t h s from d t o fB ( b y t h e a n g l e 6 and 2 n - a ) , s i n c e i t s own
pole w i l l correspond t o each path.

I n s p h e r i c a l geometry t h e r e are two s e r i e s o f forms f o r which

a l l t h e theorems a r e v a l i d : t h e a r c s o f g r e a t c i r c l e s a n 3 t h e i r
p o l e s . The c o r r e s p o n d e n c e o f a p o l e t o t h e a r c o f i t s e q u a t o r ,
i.e., t h e correspondence of a p o i n t t o t h e a r c , appears s o adequate
t h a t one s h o u l d i n t r o d u c e i n a c e r t a i n s e n s e t h e i r e q u a l t i y .

A c t u a l l y , t h e d e f i n i t i o n o f an a r c a s t h e d i f f e r e n c e o f two
p o i n t s was g i v e n p r e v i o u s l y . However, t h e o p e r a t i o n o f p o i n t
a d d i t i o n h a s n o t y e t been p r o p e r l y d e f i n e d . I n o r d e r t o r e m a i n
w i t h i n t h e framework o f t h e s t a t e m e n t t h a t t h e " a d d i t i v i t y " cf
p o i n t s g i v e s an a r c , one s h o u l d make a new p r e m i s e . We s e t t h e
p o i n t and a r c m u t u a l l y e q u i v a l e n t , i.e. t o e a c h p o i n t a s a p o l e we
e q u a t e t h e p o s i t i v e a r c o r i t s e q u a t o r o f l e n g t h n/2 ( q u a d r a n t ) .
We w i l l show t h a t t h e r u l e s c o n s i d e r e d above r e m a i n v a l i d w i t h
t h e premise.

A c t u a l l y , 58-.$=&9l, 9l=ePiB and d-8V ,i.e., the points -

/35
equal t h e i r quadrant-versors (Figure 1.13). We have :
9- J = Q f a - % ' W = i T l b + W 8 = W b ,
and a c t u a l l y , wB=d;3J, s i n c e t h e y l i e on t h e same g r e a t c i r c l e
and t h e l e n g t h s o f t h e a r c s S B and &%' e q u a l n l 2 . The e q u a l i t y
($-&)+d5% i s a l s o v a l i d , s i n c e :
JS=Wff) and
from which i t f o l l o w s t h a t :
(sa-d)+91C=St58+d=
=WB+8W=%a=1.
To any p o i n t 9( on t h e s p h e r e c o r r e s p o n d s i t s a n t i p o d e d',,
and a v ? r s o r o f t h e o p p o s i t e d i r e c t i o n c o r r e s p o n d s t o t h e a n t i p o d e
d' , 1 . e . :

F i g u r e 1.10.
sC+5('=O and d==-95';
It i s n o t d i f f i c u l t t o s e e t h a t t h e s e
e q u a l i t i e s a r e a l s o v a l i d f o r t h e quadrant-
a r c s of t h e s e p c i n t s . Hence, one can con-
v e r t t h e sum o f two p o i n t s i n t o t h e i r d i f -
f e r e n c e and t h e r e b y d e f i n e i t . Let us
c o n s i d e r , f o r example, t h e sum:

where IT d e n o t e s t h e a r c dd' e q u a l i n g half a great circle. By

i n t e r c h a n g i n g J and d , we have :
5#+5u=935#+n,
b u t s i n c e +n e q u a l s -IT and a n a r c i s unchanged by t h e a d d i t i o n o f
2n, we o b t a i n :

+ = - (g
s ~ + s s = - (-491 JX) +sc).
:
So, t h e sum o f two p o i n t s i s a l s o an a r c ( v e r s o r ) n o t e q u a l i n g
a q u a d r a n t , g e ~ i e r a l l ys p e a k i n g ; t h u s , t h e sum (as w e l l as t h e
,
d i f f e r e n c e ) does n o t e q u a l a p o i n t , g e n e r a l l y s p e a k i n g . The sum
? changes s i g n w i t h a p e r m u t a t i o n of t h e t e r m s .

t:
g There i s a unique c a s e when t h e sum and d i f f e r e n c e of p o i n t s -
/36
pi
f. g i v e s a p o i n t . Let 91, 9 2 , 3 3 be t h r e e p o i n t s of a s p h e r e such t h a t
t h e a r c s 313~.Y d 3 and 3 3 3 1 a r e q u a d r a n t s w i t h p o s i t i v e p o l e s a t
1 p o i n t s 9 3 , 91 and 3 2 r e s p e c t i v e l y ( F i g u r e 1.11).

Then :
Yl + Yz= YJ, + n = 9192.

+
But s i n c e Y I ~ z ~ $ z - ~ I = $by~ ,d e f i n i t i o n , t h e n 91 9 z = g 3 , , From
t h i s r e l a t i o n i t f o l l o w s t h a t t h e sum o r d i f f e r e n c e of two p o i n t s
d e t e r m i n e s a n o t h e r p o i n t only i f t h e m g l e between them e q u a l s ~ / 2 .
By permuting 91,9 2 a ~ d9 3 , c y c l i c a l l y , we o b t a i n :
S i n c e t h e q u a d r a n t s f o r t h e a n t i p o d e s change d i r e c t i o n , we have:

Y2+31=Y;, 33+9,=31, Y,+P3=PI. (1.26)

F i g u r e 1.11. Figure 1.12.

One can a l s o f i n d a double meaning of p o i n t and v e r s o r i n

t h e s e formulae: b e s i d e s t h e d i r e c t geometric form, t h e p o i n t
( v e r s o r ) can be understood a s a r o t a t i o n o p e r a t o r . Thus, t h e f i r s t
term i s an o p e r a t o r s h i f t i n g t h e second term i n t o t h e r e s u l t a c t . :
3l r o t a t e s t h e p o i n t 9 2 by one q u a r t e r o f a c i r c l e , a f t e r which i t
coinciazs with 9 3 , e t c .

One zan now prove a theorem about r o t a t i o n .

Let f i v e p o i n t s TI d . gPa.1, s e p a r a t e d by e q u a l a r c s be -/37

given on a g r e a t c i r c l e o f t h e s p h e r e ( F i g u r e 1 . 1 2 ) . We assume
t h a t t h e r e a r e two c o i n c i d e n t s p h e r e s , one movable, t h e o t h e r
f i x e d . We t u r n t h e movab1.e s p h e r e about t h e a x i s Od by t h e a n g l e
IT; t h e n p o i n t g ,c o i n c i d e s w i t h p o i n t F.. Now we t u r n t h e movable

s p h e r e about t h e a x i s O J b y t h e a n g l e I T ; t h e n p o i n t .# c o i n c i d e s
w i t h p o i n t a , and p o i n t 9 ( i . e . J ) - w i t h p o i n t 1. I n t h i s
f i n a l position the arc a p p e a r s t o have been s h i f t e n a l o n g t h e
a r c of t h e g r e a t c i r c l e t o t h e p o s i t i o n of a*, i .e., s h i f t e d by
t h e a r c d 9 ) = 2 @ g . The f i r s t r o t a t i o n i s a r o t a t i o n b y t w i c e t h e
quadrant A , i . e . by 2s , 2nd t h e second - c o r r e s p o n d i n g l y by
M..
f-
a
F
5.
9
h
t Hence, i t f o l l o w s t h a t t h e sum o f t h e r o t a t i o n s 2d-I-2PC is
6
e q u i v a l e n t t o t h e r o t a t i o n by t h e a r c 2 & 5 . , i . e . :
21 + 2 d =2 . M
:I
( t h e l a t t e r a l s o f o l l o w s from ( 1 . 2 4 ) , s i n c e a r o t a t i o n b y t h e a n g l e
i2. 2 ~ rl e a d s t o t h e o r i g i n a l p o s i t i o n ) .
i"
r

One can show i n p r e c i s e l y t h e same way t h a t :

2W+25-2#3',
'i and c o n s e q u e n t l y , by c o m p l e t i n g two s u c h r o t a t i o n s s e q u e n t i a l l y ,
L
we obtain:
2~+21-~29I+2&=2~+2s&~.

Obviously, t h e r o t a t i o n 29+2$ leads t o the original s t a t e ;

6 i n a d d i t i o n , 2W+2d=2.$%' .
Hence:

i . e . , t h e r e s u l t a n t o f t h e s u c c e s s i v e r o t a t i o n s o f t h e s p h e r e by
t h e doubled a r c 2 6 g about i t s p o s i t i v e p o l e and by t h e doubled
a r c 23%' a b o u t i t s p o s i t i v e p o l e i s always e q u i v a l e n t t o a r o t a -
t i o n of t h e s p h e r e about t h e t h i r d a r c o f t h e s p h e r i c a l t r i a n g l e
.49?V,t h a t i s , by t h e doubled a r c 2.~4%' a b o u t t h e p o s i t i v e p o l e of
the arc W . Consequently, i f t h e r e l a t i o n Xj 0. r e x i s t s be-
tween t h r e e v e r s o r s x+u=?, t h e n t h e c o n d i t i o n :
23 +- 2a =2r.
w i l l . always t a k e p l a c e w i t h r e s p e c t t o r o t a t i o n . The a s s o c i a t i v i t y
o f r o t a t i o n a d d i t i o n f o l l o w s from t h e c o n s i d e r a t i o n t h a t t h i s -
/38
equivalence i s independent of t h e i n i t i a l p o s i t i o n of t h e sphere.

The o b t a i n e d m a t e r i a l i s s u f f i c i e n t t o p r o c e e d t o t h e s t u d y
o f o p e r a t i o n s on v e c t o r s i n s p a c e . We a s s o c i a t e a r a d i u s v e c t o r
w i t h e a c h p o i n t . It i s n e c e s s a r y t o e s t a b l i s h t h e c o r r e s p o n d e n c e
of t h e a d d i t i o n c p e r a t i o n s f o u n d f o r v e r s o r s and p o i n t s w i t h t h e
v e c t o r o p e r a t i o n s . Siilce v e r s o r a d d i t i o n i s noncornrnut a t i v e , m l y
t h e o p e r a t i o n o f v e c t o r m u l t i p l i c a t i o n c o u l d correspor!d t o i t ;

30

-
j*.-.nlLc------

1
I
 f o r tk.is r e a s o n , we w i l l c a l l s p h e r i c a l a d d i t i o n m u l t i p l i c a t i o n ,
and s u b t r a c t i o n -
division.

lc, We w i l l denote t h e v e c t o r s of t h e
p o i n t s &,a.w. l y i n g on t h e u n i t s p h e r e
by al, bl, cl. One can show t h a t a l l
the basic statements specifying t h e
e f f e c t s on p o i n t s a r e m a i n t a i n e d f o r
F i g u r e 1.13. t h e presented d e f i n i t i o n of t h e e f f e c t s
on v e c t o r s . By t h e f r a c t i o n o f two
v e c t o r s b l / q = b,oa;' we w i l l u n d e r s t a n d t h e d i f f e r e n c e of p o i n t s
.,
1-90, , 1.e t h e versor Obviously, t h e s p h e r i c a l t r i a n g l e
r e l a t i o n (1.23) i s preserved: t h e r e l a t i o n (s$-V)+(W--.~J)=W~+
I

-& m= 9.d corresponds t o t h e e q u z l i t y :

a, ci' 0 c10 bi' =al * bi',
0

i . e . , t h e product z ~ f two f r a c t i o n s g i v e s a f r a c t i o n of t h e same t y p e .

S i n c e t h e v e r s o r d ~ r = f l y . d ,corresponds t o t h e p o i n t W , f o r
example, then t o each v e c t o r cl t h e r e corresponds a f r a c t i o n . nom-' ,
i..,cI=nm1 .
Obviously, t h e v e c t o r c i corresponding t o t h e a n t i -
pode i s o p p o s i t e t o t h e v e c t o r cl, i . e . :

On t h e o t h e r hand, s i n c e t h e p o i n t ' corresponds t o t h e

v e r s o r N d = . d - f l , t h e n c;=mon-I .
Hence, i t f o l l o w s t h a t
c l o d = I , a s it s h o u l d , s i n c e f o r t h e v e r s o r s W-t-@'=O .
The o b t a i n e d r e l a t i o n shows t h a t t h e v e c t o r c i o p p o s i t e t o
f t h e v e c t o r cl s a t i s f i e s t h e c o n d i t i o n c;=c;I, because only i n t h i s -
/39
c a s e UIQC;= 1 . But, on t h e o t h e r hand, cia-C, , from which i t
f o l l o w s t h a t ci0(:~l)"l and ~ I * c I = - ~ ,i . e . * t h e s q u a r e o f any v e c t o r
( u n i t ) e q u a l s -1.

.... -.-..-"
1 .
 These s t a t e m e n t s permit one t o o b t a i n i n accordance w i t h ( 1 . 2 5 )
and ( 1 . 2 6 ) t h e f o l l o w i n g r e l a t i o r i s f o r t h e s j s t e m of t h r e e o r t h o -
gonal u n i t v e c t n r s i l , i2, i p a s s i n g through t h e p o i n t s 31, 3 2 , ys
3
( c f . F i g u r e 1.11):

where i t a r e t h e v e c t o r s i n t h e o p p o s i t e d i r e c t i o n .
j

The r u l e s found f o r m u l t i p l y i n g t h e u n i t v e c t o r s can be

t r a n s f e r r e d t o t h e m u l t i p l i c a t i o n of a r b i t r a r y v e c t o r s i n s p a c e .
For t h i s we r e p r e s e n t t h e r r b i t r a r y v e c t o r a i n t h e form:
aaW1,
where al i s t h e u n i t v e c t o r and a i s a number ( s c a l a r ) , which we
c a l l t h e v e c t o r t e n s o r . Let u s c o n s i d e r t h e f r a c t i o n o f t h e two
v e c t o r s a - a a ~ and b = f % , which we denote by A :

The f i r s t f a c t o r of t h e o b t a i n e d f r a c t i o n a / @ i s c a l l e d t h e t e n s o r ,
and t h e second alobil -t h a v e r s o r . The f r a c t i o n A depends on
t h e r a t i o of t h e l e n g t h s of t h e v e c t o r s , on t h e a n g l e between them
and on t h e p o s i t i o n of t h e p l a n e . S i n c e t h e p o s i t i o r ~o f t h e p l a n e
i s determined by two p a r a m e t e r s , t h e n f o a r p a r a m e t e r s i n a l l a r e
needed t o d e f i n e A . For t h i s r e a s o n E i s c a l l e d a q u a t e r n i o n .

The o r t h o g o n a l u n i t v e c t o r s il, 12, i ( 1 . 2 8 ) a r e t h u y l y

3
q u a t e r n i o n s a l s o . T h e i r m u l t i p l i c a t i o n r u l e s r e v e a i t h e same
doubled meaning c h a r a c t e r i s t i c o f q u a t e r n i o n s : on one hand, they
a r e some geometric forms, on t h e o t h e r , t h e y a r e o p e r a t o r s . Thus,
t h e f i r s t f a c t o r i n t h e product I l o i : , can be c o n s i d e r e d a s an
o p e r a t o r a c t i n g on t h e v e c t o r 12 and c o n v e r t i n g i t i n t o t h e v e c t o r / 4 0 - 4
3
i 3 . S i n c e t h e q u a t e r n i o n (1.29) i s d e f i n e d a s a f r a c t i o n , t h e n i f a
t h e a n g l e between t h e v e c t o r s a and b e q u a l s t h e a n g l e between t h e f
 Figure 1 . 1 4 . Figure 1.15.

v e c t o r s c a ~ d,
d t h e x a t i o s ab/ and c / d a r e e q u a l and, ir addl t i o n ,
t h e p l a n e s formed by t h e vecto:. p a i r s a, b a:ld c , d c o i n c l d e
(Figure 1.14), then t h q i r r a t i o s :
aob-'==cod''
form t h e same q u s t e r n i o n . Thus, a q u a t e ~ n i o nI s determined by t h e
p l a n e formed b;' t h e v e c t o r s a, b a n e t h e a g l e betwren them.

We n o t e t h a t s i n c e a p o i n t ( v e c t o r ) corresponds t o t h e v e r s o r
n/2, t h e n t h e f r a c t i o n of two mutually p e r p e n d i c u l a r segments i s
a v e c t o r . On t h e o t h e r hand, i f t h e v e c t o r s a and b a r e c o l l i n e a r ,
t h e n the::? f r a c t i o n i s a simple r e a l . number.

Let us conside? t h e csoe ,,f - . >.- , . .;rar,y a;~g!.e b a t ,.n t h e

v e c t o r s a and b ( F i g u r e 1 . 1 5 ) . The ~ e c t ; . ~ * a can be r e s o l v e d i n t o
t h e sum a = ag + an, t h e n :
b --
A = i . - r + ~ , ) ~ --I aoob-'+n,ob-'
w i l l r e p r e s e n t t h e sum of a r e a l number c q u a l l n g t h e r a t i o c f t k e
magnitades ao/b and a v e c t o r . Hence, i t f o l l o w s t h a t each qua--
t e r n i o n can be uniquely r e s o l v e d i n t o a s c a l a r and a v e c t o r p a r t .
It i s not d i f f i c u l t t o s e e t h a t t h e s c a l a r p a r t of ( 1 . 2 9 ) e q u a l s :
- -6
O = -ares a
b b -3~036,
a
and t h e magnitude of t h e v e c t o r p a r t e q u a l s gsint) b-r analogy.

I f t h e v e c t o r of t h e q u a t e r n i o n i s f u r t h e r r e s o l v e d a l o n g t h e
orthogon91 u n i t axes i2, 13, t h e n we a r r f v e at t h z r e p r e s e n t a -
t i o n of t h e q u a t e r n i o n as t h e hypergeomecric number, w i t h which
t h i s c h a p t e r began.
 CHAPTER 2
THEORY OF FINITE RIGID BODY ROTATIONS

Orthogonal t r a n s f o r m a t i o n s , which a r e t h e mathemat i c - 1 form

f o r d e s c r i b i n g r i g i d body r o t a t i o n [16, 41!, 66 1, w i l l b consid-
ered i n t h i s chapter.

A r b i t r a r y f i n i t e motion of a r i g i u dody can be r e s o l v e d i n t o

t r a n s l a t i o n a l motion l i n k z d w i t h some a r b i t r a r i l y s e l e c t e d p o i n t
and r o t a t i o n r e l a t i v e t o t h i s p o i n t . I n accordance w i t h t h i s ,
d f t h e s i x independent c o o r d i n a t e s d e s c r i b i n g r i g i d body motion,
t h r e e c o o r d i n a t e s s p e c i f y t h e t r z n s l z t i o n of some f i x e d p o i n t
of t h e body i n space, and t h r e e c o o r d i n ~ t e sc h a r a c t e r i z e i t s r c t a -
t i o n . We w i l l be i n t e r e s t e d only i n t h e r o t a t i o n of t h e r i g i d body
r e l a t i v e t o t h e f i x e d p o i n t . T h i s problem i s an independent problem
i n mechanics: i t s s o l u t i o n i s r e q u i r e d when s t u d y i n g any motion
of a body, whose f i n i t e dimensions a r e t o be t a k e n i n t o account.
I n t h e m a j o r i t y o f p r a c t i c a l c a s e s , t h e r o t a t i o n a l motion does
not depend on t h e t r a n s l a t i o n a l motion of t h e r i g i d body. Thus,
f o r example, when t h e f i x e d p o i n t i s t h e c e n t e r of mass, t h e
body is i n f r e e motion i n an a r b i t r a r y f o r c e f i e l d .

For t h e s o l u t i o n of any dynamic o r kinematic problem,

where t h e r i g i d body cannot be considered a s a p o i n t , one r e -
q u i r e s a r a t i o n a l d e s c r i p t i o n f o r t h e kinematics of t h e r o t a t i o n a l
motion. The s s s e n t i a l r o l e i n t h i s i s played by t h e choice o f
t h e kinematic parameters corresponding t o t h e t h r e e r o t a t i o n a l
deg7ees of freedom of t h e r i g i d body motion. A number of
kinematic parameter; used f o r d e s c r i b i n g r i g i d body motion a r e
known: t h e d i r e c t i o n c o s i c e s , t h e E u l e r and Krylov a n g l e s , t h e
Cayley-Klein parameters, t h e Rodriguez - Hamilton parzmeters
 4

9 , 3 4 . Among t h e most convenient parameters a r e t h e 3t

Rodriguez - Hamilton parameters, which a r e q u a t e r n i o n '5
s
components. These parameters a r e not d e g e n e r a t e f o r any p o s i t i o n
of t h e r i g i d body (i.e., t h e parameters themselves a s w e l l a s -
/42
t h e i r rates o f change do not become i n f i n i t e ) , i n c o n t r a s t t o t h e
E u l e r angles. There are f o u r Rodriguez - Hamilton parameters,
i . e . , t h e r e i s one coupling e q u a t i o n , i n c o n t r a s t t o t h e s i x
coupling e q u a t i o n s f o r t h e d i r e c t i o n c o s i n e s . On t h e o t h e r hand,
t h e s e parameters c h a r a c t e r i z e t h e most n a t u r a l method f o r s p e c i f y -
i n g t h e p o s i t i o n o f t h e r i g i d body w i t h t h e h e l p o f t h e p l a n e o f
rotation.

The f i n i t e r o t a t i o n of a r i g i d body ( i . e . , t h e motion of a

body having a f i x e d p o i n t ) has t h e p e c u l i a r i t y t h a t i t always
l e a v e s one a x i s f i x e d i n space. This f a c t i s e s t a b l i s h e d by t h e
well-known E u l e r theorem, accordfng t o which: any r i g i d body
r o t a t i o n i s e q u i v a l e n t t o a p l a n e r o t a t i o n about some a x i s and can
b e s p e c i f i e d a s a f i n i t e r o t a t i o n about t h i s a x i s o r a s a f i n i t e
r o t a t i o n v e c t o r d i r e c t e d a l o n g t h e E u l e r r o t a t i o n a x i s and
having a l e n g t h depending on t h e r o t a t i o n a n g l e . Plane r o t a t i o n
has t h e same a n g l e independent o f t h e c e n t e r o f r o t a t i o n ; i t i s
e s s e n t i a l t h a t t h e axes o f r o t a t i o n remain p a r a l l e l t o each o t h e r .
I n t h i s s e n s e t h e f i n i t e r o t a t i o n v e s t o r i s a n i n v a r i a n t of t h e
a r b i t r a r y motion of t h e body. I n p a r t i c u l a r , an a r b i t r a r y motion
can be r e s o l v e d i n t o two t r a n s l a t i o n a l motions - along t h e a x i s o f
t h e r o t a t i o n v e c t o r and i n t h e p l a n e of r o t a t i o n - and t h e
i n h e r e n t r o t a t i o n . By t h e choice of t h e a x i s ( o r c e n t e r ) o f
p l a n e r o t a t i o n , one can reduce t h e t r a n s l a t i o n a l motion i n t h e
p l a n e of r o t a t i o n t o zero (i.e., combine i t w i t h t h e r o t a t i o n ;
t h e n t h e a x i s o f r o t a t i o n becomes t h e s o - c a l l e d c e n t e r of r o t a t i o n ) ;
t h e a r b i t r a r y motion o f t h e r i g i d body i s reduced i n t h i s c a s e t o
h e l i c a l motion [ l g ] .
 i The f i n i t e r o t a t i o n v e c t o r d e f i n e s t h e Rodriguez - Hamilton
parameters (as w e l l a s t h e Cayley - Klein paxam.eters).

The a p p l i c a t i o n o f such a t y p e of kinematic parameters l e a d s

i n a n a t u r a l manner t o t h e u s e of q u a t e r c i o n s . Q u a t e r n i o n s have
a s t r u c t u r e p e r m i t t i n g one t o d e s c r i b e i n a most convenient
mafiner a l l t h e o p e r a t i o n s l i n k e d w i t h t h e d e s c r i p t i o n and ztudy
of r i g i d boey motion. /43

3rthogonal t r a n s f o r m a t i o n s which a r e f i n i t e r o t a t i o n s accord-

i n g t o t h e E u l e r theorem w i l l b e considered i n t h i s c h a p t e r . The
isomorphic correspondence of t h e o r t h o g o n a l t r a n s f o r m a t i o n
o p e r a t i o n and t h e q u a t e r n i o n m u l t i p l i c a t i o n o p e r a t i o n w i l l be
e s t a b l i s h e d . The a p p l i c a t i o n of q u a t e r n i o n s p e r m i t s t h e most
complete study o f t h e t h e o r y o f f i n i t e r o t a t i o n s . I n p a r t i c u l a r ,
a l l t h e known r e s u l t s af 1-.ke t h e o r y o f f i n i t e r o t a t i o n s [31] a r e
o b t a i n e d i n t h e form o f q u a t e r n i o n m u l t i p l i c a t i o n o p e r a t i o n s .
The use of q u a t e r n i o n s p e r m i t s one t o o b t a i n a number o f new r e -
s u l t s : t h e t r a n s f o r m a t i o n ( r o t a t i o n ) a d d i t i o n theorem f o r t h e
Rodriguez-Hamilton parameters, t h e g e n e r a l i z e d theorem f o r
f i n i t e rotation permutativability, e t c .

i
On t h e o t h e r hand, t h e forms o b t a i n e d f o r t h e q u a t e r n i o n
:
a o p e r a t i o n s corresponding t o t h e orthogonal t r a n s f o r m a t i o n s have
a sufficiently g e n e r a l form and a r e r e p e a t e d when w r i t i n g t h e
A analcgous o p e r a t i o n s i n any parameters. The s t u d y p r e s e n t e d
.i
,
i
below of t h e r e l a t i o n of t h e Rodriguez-Hamilton parameters w i t h
% t h e o t h e r kinematic parameters r a t h e r c l e a r l y i l l u s t r a t e s t h i s
1
:
: fact.
5..
** -

6 The s t r ~ c t u r edeveloped i n t h i s c h a p t e r p e r m i t s one t o

f,
r e p r e s e n t i n a convenient f w m a l l t h e o p e r a t i o n s r e l a t e d t o
orthogonal t r a n s f o r m a t i o n s .
.. f
 2.1. ORTHOGONAL TRANSFORMATIONS_

Rigid body r o t a t i o n can b e d e s c r i b e d by v a r i o u s methods. The

most g e n e r a l i s t h e method i n which t h e r i g i d body o r i e n t a t i o n
i s determined b y t h e o r i e n t a t i o n of an orthogonal ( C a r t e s i a n )
c o o r d i n a t e system connected t o t h e body.

L e t us assume t h a t a r e c t a n g u l a r c o w d i n a t e system E having

t h e u n i t v e c t o r s el, e2, e3 i s r i g i d l y bound t o a r i g i d body.
The motion o f t h e body w i l l be c o n s i d e r e d r e l a t i v e t o a rectangu-
lar c o o r d i n a t e system I w i t h t h e u n i t v e c t o r s il, I*, 13. The
c o o r d i n a t e systems E and I w i l l b e c a l l e d t h e body and f i x e d
b a s e s , r e s p e c t i v e l y . Let us f u r t h e r assume t h a t t h e o r i g i n s
of b o t h b a s e s a r e l o c a t e d a t t h e same p o i n t about which t h e
r i g i d body motion occurs.

.
The p o s i t i o n of any a x i s ek , t h e b a s i s E i n t h e c o o r d i n a t e
system I i s determined by t h e t h r e e d i r e c t i o n c o s i n e s formed by
t h i s a x i s w i t h t h e axes of I ( k , j = 1, 2 , 3 )
3

The system of n i n e d i r e c t i o n c o s i n e s completely determines

t h e o r i e n t a t i o n of t h e body b a s i s E r e l a t i v e t o t h e r e f e r e n c e
c o o r d i n a t e system. 'de p l a c e t h e s e c o s i n e s i n a 3x3 I m a t r i x c a l l e d
t h e d i r e c t i o n cosine matrix:
 c Any b a s i s v e c t o r o f t h e body system E can b e e x p r e s s e d
i
through t h e b a s i s v e c t o r s o f t h e b a s i s I u s i n g t h e r e l a t i o n s * :

T h i s r e l a t i o n i s one o f t h e methods f o r s p e c i f y i n g r i g i d body

motion, i . e . , by t r ~ n s f o r m i n gone c o o r d i n a t e system i n t o a n o t h e r .

i'
Let us now c o n s i d e r how t h e d i r e c t i o n c o s i n e s permit one t o
t e x p r e s s t h e components o f some i n v a r i a n t v e c t o r i n t h e c o o r d i n a t e
i
$
system E, i f i t s components a r e known i n t h e system I. L e t r
be an i n v a r i a n t v e c t o r , and r and r i be i t s p r o j e c t i o n s o n t o t h e
L
5

b a s e s I and E, r e s p e c t i v e l y . It i s obvious t h a t :

C
Hence, i t i s e a s y t o f i n d t h a t :

gc It i s obvious t h a t t h e t r a n s f o r m a t i o n (2.3) can d e f i n e

2 t h e t r a n s f o r m a t i o n o f t h e c o o r d i n a t e system. T h i s i s a n o t h e r
a
$-
way o f s p e c i f y i n g t h e t r a n s f o r m a t i o n o f b a s e s , when t h e change
of t h e components o f t h e i n v a r i a n t v e c t o r s p e c i f i e d by t h e
kk r e l a t i o n s (2.3) i s d e s c r i b e d i d e n t i c a l l y t o t h e r e l a t i o n ( 2 . 2 ) .

* We n o t e f o r r e f e r e n c e t h a t t h e e l e m e n t s ak d e f i n e d by the rela-
t i o n s ( 2 . 1 ) a r e t h e c o v a r i a n t components 04
the vector e in
t h e b a s i s I. The r e s o l u t i o n o f t h e v e c t o r e o n t o t h e ukit
v e c t o r s of t h e b a s i s i s s p e c i f i e d by t h e c o n h r a v a r i a n t components
of ek i n t h e b a s i s I. The c o v a r i a n t and c o n t r a v a r i a n t components
E and I c o i n c i d e f o r t h e o r t h o g o n a l c o o r d i n a t e systems C281,
thanks t o which formula ( 2 . 2 ) i s p o s s i b l e .
 The r e l a t i o n s (2.3) a r e t h e l i n e a r t r a n s f o r m a t i o n e q u a t i o n s
d e f i n e d by t h e m a t r i x Ilaijn .
Since % h i s transformation describes
r i g i d body motion, t h e m a t r i x (2.1) i s an orthogonal transforma-
t i o n matrix. The elements a s a t i s f y t h e well-known o r t h o g o n a l i t y
ij
conditions :
3
E aira~r= &P
&I
3 ,i
ak i = 6 , k = { 1 with j = & * ] .
o w i t h I#& (2.4)
The o r t h o g o n a l i t y c o n d i t i o n s a r e a r e f l e c t i o n of t h e p r o p e r t y
of a r i g i d body t o maintain f i x e d d i s t a n c e s between any of i t s
p o i n t s . The i n v a r i a n c e of t h e l e n g t h o f t h e v e c t o r r i n d i c a t e s
that the equality: 3 3
P,?-J1
.+
t==l
I - (rT=

must be s a t i s f i e d , from which t h e f i r s t c o n d i t i o n (2.4) a l s o

follows.

L e t us c o n s i d e r t h e i n v e r s e t r a n s f o r m a t i o n c o n v e r t i n g t h e
basis E i n t o t h e b a s i s I; it w i l l be d e f i n e d by t h e m a t r i x
A-'=]a;,l, t h e i n v e r s e of t h e m a t r i x A. By analogy t o t h e r e l a -
t i o n s ( 2 . 2 ) and ( 2 . 4 ) , t h e i n v e r s e t r a n s f o r m a t i o n s can be w r i t t e n
i n t h e form o f e q u a l i t i e s r e l a t i n g t h e b a s i s v e c t o r s of t h e b a s e s /46
E and I o r i n t h e form ~f r e l a t i o n s between t h e p r o j e c t i o n s of
an i n v a r i a n t v e c t o r o n t o t h e s e b a s e s :

By r e p e a t i n g t h e d e r i v a t i o n of ( 2 . 5 ) , one f i n d s t h a t t h e elements
of t h e i n v e r s e m a t r i x must a l s o s a t i s f y t h e o r t h o g o n a l i t y condi-
t ions :
3
z a' d
1-1 il
- dl,.
 On t h e o t h e r hand, l e t us c o n s i d e r t h e f o l l q w i n g r e p r e s e n t a -
t i o n o f t h e v e c t o r r:

We change t h e o r d e r of t h e sununation i n t h e sum o b t a i n e d by f i r s t

summing o v e r t h e second i n d e x and t h e n o v e r t h e f i r s t :

i.e., f i r s t , t h e n a t r i x A i s t r a n s p o s s e ? , and second, we o b t a i n :

By comparing t h e o b t a i n e d r e l a t i o n ( 2 . 8 ) w i t h t h e e q u a l i -
t i e s ( 2 . 6 ) , one can s e e t h a t :

i . e . , t h e elements o f t h e i n v e r s e m a t r i x e q u a l t h e elements o f t h e
t r a n s p o s e d m a t r i x . It i s obvious t h a t t h e e q u a l i t y ( 2 . 7 ) t h e n
changes i n t o t h e second o r t h o g o n a l i t y c o n d i t i o n ( 2 . 4 ) . In
a d d i t i o n , t h e c o n d i t i o n s ( 2 . 9 ) a r e o r t h o g o n a l i t y c o n d i t i o n s them-
s e l v e s , completely e q u i v a l e n t * t o t h e c o n d i t i o n s ( 2 . 4 ) . By de-
n o t i n g t h e t r a n s p o s e d m a t r i x l(~,,l=A' and t h e i n v e r s e Ia;&l=A'' ' - / 47
we w r i t e t h e c o n d i t i o n ( 2 . 9 ) i n t h e form:

The o r t h o g o n a l i t y c o r ~ d i t i o n s a l s o f o l l o w d i r e c t l y from t h e
r e l a t i o n s ( 2 . 2 ) and ( 2 . 6 ) , i f one t a k e s t h e f a c t i n t o account
t h a t t h e f o l l o w i n g e q u a l i t i e s a r e s a t i s f i e d f o r an orthonormal
basis :

* T h i s can be v e r i f i e d d i r e c t l y by c a l c u l a t i n g t h e e l e m e n t s o f
t h e i n v e r s e m a t r i x , which a r e e q u a l t o t h e correzponding complemen-
t a r y minors. The e q u a l i t i e s ( 2 . 9 ) a r e s a t i s f i e d when t h e e q u a l i -
t i e s ( 2 . 4 ) a r e t r u e , and c o n v e r s e l y .

40
By s u b s t i t u t i n g t h e e x p r e s s i o n s -3r t h e u n i t v e c t o r s ( 2 . 2 ) o r
( 2 . 6 ) i n t o t h e s e e q u a l i t i e s , we o b t a i n t h e c o n d i t i o n s ( 2 . 4 )
d i r e c t l y , which o b v i o u s l y i s a r e f l e c t i o n o f t h e o r t h o g o n a l i t y
conditions.

We w i l l u s e t h e m a t r i x symbolism f o r convenience i n s p e c i f y -
i n g t h e t r a n s f o r m a t i o n s . We i n t r o d u c e t h e column m a t r i c e s com-
pcsed of t h e u n i t v e c t o r s I and ek, which we w i l l d e n o t e by
J
t h e same symbols as f o r t h e b a s e s , i . e . :

By u s i n g t h e m a t r i x m u l t i p l i c a t i o n o p e r a t i o n , one can w r i t e t h e
t r a n s f o r m a t i o n ( 2 . 2 ) i n t h e form:
E = AI, I = A-'E = A%. (2.13)

We a l s o i n t r o d u c e t h e column m a t r i c e s compose5 of t h e
c o m p ~ n e n t sof t h e v e c t o r r i n some b a s i s , i . e . , o f t h e q u a n t i -
t i e s r, and r, :

The r e p r e s e n t a t i o n ( 2 . 3 ) can be w r i t t e n i n t h e m a t r i x form:

r = R**E = = =1 ' ~ . (2.14)

and t h e s z relations can e a s i l y b e ~ b t a i n e dw i t h t h e u s e o f t h e

-
/ 48

i n t r o d u c e d m a t r i x symbols* :

* The f o l l o w i n g m a t r i x p r o p e r t y i s a l s o used: t h e t r a n s p o s e o f
t h e product of two m a t r i c e s e q u a l s t h e product of t h e t r a n s p o s e d
matrices i n reverse order.
from which

( h e r e ATA=AAT=l , where l=IIbI! is the unit matrix).

The o r t h o g o n a l t r a n s f o r m a t i o n i n t h e form (2.13) and (2.15)

i s d e f i n e d by t h e m a t r i x A , which can b e c o n s i d e r e d as an o p e r a t o r
t r a n s f o r m i n g I i n t o E ( f o r t h e f i r s t method f o r s p e c i f y i n g r c t a -
t i o n ) , o r as an o p e r a t o r s p e c i f y i n g t h e t r a n s i t i o n between t h e
components o f an i n v a r i a n t v e c t o r w i t h a b a s i s t r a n s f o r m a t i o n
( f o r t h e second method f o r s p e c i f y i n g r o t a t i o n t r a n s f o r m a t i o n ) .
Obviously, b o t h t h e s e methods are completely e q u i v a l e n t , and i t
i s s u f f i c i e n t t o s p e c i f y r o t a t i o n by e i t h e r o f t h e s e methods.

However, t h e r e i s a n o t h e r method f o r s p e c i f y i n g r i g i d
body r o t a t i o n , which h a s a n o t h e r i n t e r p r e t a t i o n o f an o r t h o g o n a l
t r a n s formation.

Let us c o n s i d e r a v e c t o r , whose p o s i t i o n i s n o t changed

r e l a t i v e t o t h e basis b e i n g t r a n s f o r m e d , i . e . , a v e c t o r which
r o t a t e s w i t h t h e c o o r d i n z t e system. Obviously, such a v e c t o r
changes i t s p o s i t i o n i n s p a c e a s a r e s u l t o f t h e r o t a t i o n of
t h e b a s i s ; i n accordance w i t h t h i s , t h e v e c t o r r i s c o n v e r t e d
t o t h e new v e c t o r r f w i t h t h e b a s i s t r a n s f o r m a t i a n . The v e c t o r
r 1 can be determined, s i n c z t h e components o f t h e v e c f o r r i n t h e
o r i g i n a l basis and t h e components o f t h e v e c t o r r 1 i n t h e
transformed b a s i s a r e t h e same:

By u s i n g t h e r e l a t i o n ( 2 . i 3 ) , one can f i n d t h e t r a n s f o r m e d
vector:
Where R 1 i s t h e column m a t r i x of t h e components o f t h e v e c t o r /49
r1 i n t h e b a s i s o f I. It f o l l o w s from t h e e q u a l i t y o b t a i n e d t h a t :
R' = ATR, (2.17)
t
Since t h e matrix A transforms t h e vector r i n t o t h e vector r t ,
i t can be c o n s i d e r e d a s an o p e r a t o r s p e c i f y i n g a t r a n s f o r m a t i o n
of v e c t o r s . Then one can w r i t e by c o n v e n t i o n :

The o o t a i n e d c o n v e n t i o n a l e q u a l i t y ( 2 . 1 8 ) i s a c o r o l l a r y o f
t h e e q u a l i t y ( 2 . 1 7 ) , which s p e c i f i e s t h e components of t h e new
v e c t o r i n m a t r i x form. T h i s i s a n o t h e r form f o r s p e c i f y i n g
motion, w i t h which t h e r o t a t i o n of a v e c t o r i s s p e c i f i e d r e l a t i v e
t o a f i x e d c o o r d i n a t e system.

I t s h o u l d be not.ed t h a t t h e t r a n s f o r m a t i o n s ( 2 . 1 7 ) and
( 2 . 1 8 j a r e a form o f t h e g e n e r a l a f f i n e t r a n s f o r m a t i o n ( l i n e a r
t r a n s f o r m a t i o n ; c f . , f o r example, [ 2 8 ] ) . The m a t r i x r e l a t i o n
(2.17) defines t h e following orthogonal transformation:

I t i s i m p o r t a n t t o n o t e t h a t t h e I - e l a t i o n s (2.17) o r ( 2 . 1 8 )
a r e f o r m a l l y s i m i l a r t o t h e r e l a t i o n s (2.15) o r ( 2 . 3 ) . Conse-
q u e n t l y , t h e l a t t e r a r e o f t e n t r e a t e d a l s o a s an o p e r a t i o n
t r a n s f o r m i n g a v e c t o r i n t o a v e c t o r . However, t h e formulae ( 2 . 3 )
and (2.151 d e f i n e t h e c o o r d i n a t e s of t h e same v e c t o r i n d i f f e r e n t
b a s e s , whereas t h e r e l a t i o n s ( 2 . 1 7 ) and ( 2 . 1 8 ) a c t u a l l y d e f i n e
d i f f e r e n t v e c t o r s i n one b a s i s ( i n o u r c a s e , i n t h e b a s i s I ) .
Because o f t h i s , t h e t r a n s f o r m a t i o n o f R i n t o R 1 i s accomplished
by t h e m a t r i x A i n t h e c a s e of ( 2 . 1 5 ) , and by t h e i n v e r s e m a t r i x
t
A i n t h e c a s e of ( 2 . 1 7 ) .
 The o p e r a t i o n ( 2 . 1 8 ) t r a n s f o r m i n g a v e c t o r i n t o a v e c t o r
p e r m i t s one t o s p e c i f y t h e t r a n s f o r m a t i o n o f b a s e s i n y e t a n o t h e r
form:
ek=ATir ( k = 1 , 2,3), (2.20)

by which e a c h b a s i s v e c t o r o f t h e b a s i s I i s t-ansformed i n t o a
b a s i s v e c t o r o f t h e b a s i s E by u s i n g t h e t r a n s f o r m a t i o n ( 2 . 1 8 ) .
One can v e r i f y t h a t t h e b a s i s v e c t o r s ek form an o r t h o g o n a l
system o f a x e s . Then i t s h o u l d be n o t e d t h a t i n t h c f i r s t c a s e
considered of b a s i s transformation (2.2) o r (2.13) t h e b a s i s
v e c t o r s o f t h e new b a s i s E a r e e x p r e s s e d t h r o u g h t h e b a s i s v e c t o r s
of t h e o l d b a s i s I , whereas i n t h e t r a n s f o r m a t i o n ( 2 . 2 0 ) t h e
components of t h e b a s i s v e c t o r s of t h e new b a s i s a r e e x p r e s s e d
by t h e components o f t h e b a s i s v e c t o r s o f t h e o l d b a s i s , t h e
components b e i n g t a k e n i n t h e same c o o r d i n a t e system.

I n t h i s connection, i t is necessary t o d i s t i n g u i s h t h e follow-

i n g p o s s i b l e methods f o r s p e c i f y i n g r i g i d body r o t a t i o n :

a ) The t r a n s f o r m a t i o n i s s p e c i f i e d i n t h e form of t h e b a s i s
tra.nsformation o p e r a t i o n ( 2 . 2 ) , (2.13) o r , which i s e x a c t l y t h e
same, i n t h e form of a t r a n s f o r m a t i o n of t h e components of a n
i n v a r i a n t v e c t o r w j Qh a b a s i s t r a n s f o r m a t i o n ( 2 . 3 ) , ( 2 . 1 5 ) . The
v e c t o r r o t a t i o n i s t h e n s p e c i f i e d by t h e i n v e r s e o p e r a t i o n ;

b ) The t r a n s f o r m a t i o n i s s p e c i f i e d i n t h e form of t h e v e c t o r
r o t a t i o n operation (2.18) o r (2.17). If a basis rotation also
accompanies t h i s , t h e n t h e p o s i t i o n o f t h e transformed b a s i s
r e l a t i v e t o t h e r e f e r e n c e i s d e t e r m i n e d by the inverse operation.

I t i s easy t o u n d e r s t a n d t h e r e a s o n f o r t h e d i f f e r e n c e o f
t h e s e twc i n t e r p r e t a t i o n s : f o r t h e same r o t a t i o n of t h e body
c o o r d i n a t e system r e l a t i v e t o t h e r e f e r e n c e , t h e motion of a
body v e c t o r i n t h e f i x e d c o o r d i c a t e system a p p e a r s o p p o s i t e t o t h e
motion o f a f i x e d v e c t o r r e l a t i v e t o t h e body c o o r d i n a t e
system. Although t h e o r t h o g o n a l t r a n s f o r m a t i o n s ( 2 . 1 5 ) and (2.17)
a r e formally i d e n t i c a l , it is necessary t o i n d i c a t e , i n addition,
t h e rorm o f t h e o p e r a t i o n b e i n g s p e c i f i e d * .

The m a t r i x of t h e o r t h o g o n a l t r a n s f o r n a t i o n A h a s a d e t e r -
minant e q u a l i n g + l . Furthermore, t h e t r a n s f o r m a t i o n d e f i n e d by
t h e m a t r i x A l e a v e s one a x i s f i x e d . The well-known E u l e r theorem
i s a qonsequence o f t h i s , which s t a t e s t h a t any motion o f a r i g i d
body h a v i n g a f i x e d p o i n t i s e q u i v a l e n t t o a r o t a t i o n about a
f i x e d a x i s . The a x i s of r o t a t i o n i s t h e e i g e n v e c t o r of t h e m a t r i x
A c c r r e s p o n d i n g t o t h e e i g e n v a l u e +1, and i s d e t e r m i n e d from t h e
c h a r a c t e r i s t i c e q u a t i o n **:
(A- h 1 ) 9 = = 0 ,
where X i s t h e e i g e n v a l u e o f t h e : n a t ~ . i x .

The c h a r a c t e r i s t i c e q u a t i o n i n t h e c o o r d i n a t e s h a s t h e
f o l l o w i n g form:
+ +
(all - A) r ,

I
alfo a d 3 = 0,
%lrl + - A) + r2 a2f3 = 08
a31r1 + + ( a s - A)
ad2 r3 = 0,

and i t s s o l u t i o n f o r X = 1 d e t e r m i n e s t h e v e c t o r of t h e a x i s of
r o t a t i o n t o w i t h i n an a r b i t r a r y m u l t i p i e . For t h e s o l u t i o n o f t h i s
e q u a t i o n , i t i s n e c e s s a r y t o examine how t h e o p e r a t o r changes w i t h
a t r a n s f o r m a t i o n of t h e b a s i s .

L e t t h e v e c t o r s be t r a n s f o r m e d by t h e o p e r a t o r G i n t o t h e
v e c t o r t [analogous t o ( 2 . 1 8 ) ] :
* T h i s q u e s t i o n i s d i s c u s s e d by G o l d s t e i n [16].
** The proof OF t h e theorem i s d i s c u s s e d i n G o l d s t e i n ' s book, and
we c o n s i d e r i t unnecessary t o r e p e a t i t h e r e .
and we have f o r t h e column m a t r i c e s T and S analogous t o (2.17):

The o p 2 r a t o r (j I s s p e c i f i e d by t h e m a t r i x Ilgi~H.

Further, l e t t h e r e be a transformation of t h e coordinate

s y s t e m implemented by t h e m a t r i x A . Then t h e column m a t r i c e s
d e f i n i n g t h e v e c t o r s t and s i n t h e new b a s i s w l l l b e f o u n d
i n a c c o r d a n c e w i t h ( 2 . 1 5 ) as:
T1=AT. S1=AS. (2.24)

On t h e o t h e r h a n d , t h e m a t r i x e q u a l i t y ( 2 . 2 3 ) r e f l e c t i n g t h e
v e c t o r e q u a l i t y ( 2 . 2 2 ) m ~ s ta l s o b e s u b j e c t t o the t r a n s f o r m a t i o n
( 2 . 1 5 ) , i . e . , we h a v e :
AT = AGS.
(2.25)
Hence, one can o b t a i n :
Tf = AT = A a S = AGA'-'AS -- AGA-'S~ GfS', - (2.26)

i . e . , t h e e q u a l i t y (2.26) analogous t o t h e e q u a l i t y (2.23)

r e s p o n d s t o t h e v e c t o r e q u a l i t y ( 2 . 2 2 ) i n t h e new b a s i s , he ma-
t r i x o f t h e o p e r a t o r G a l s o b e i n g t r a n s f o r m e d t o t h e new c o o r d i - / 52
n a t e s . Such a t r a n s f o r m a t i o n i s c a l l e d a s i m i l a r c r a n s f o r m a -
t i o n and h a s t h e f o l l o r v i n g form i n a c c o r d a n c e w i t h ( 2 . 2 6 ) :

I n general, t h e c h a r a c t e r i s t i c Equation (2.21) has t h r e e

By d e n o t i n g t h e number o f t h e r o o t by a s e c o n d i n d e x ,
one c a n w r i t e t h e c h a r a c t e r i s t i c E q u a t i o n ( 2 . 2 1 ) i n t h e f o l l o w i n g
form :
 If denotes t h m ~ a t r i x IIrjhtf = R , t h e n t h e o b t a i n e d
c h a r a c t e r i s t i : e q u a t i o n can b e w r i t t e n i n & h e m a t r i x form:

where :

is a diagonal matrix containing thc eigenvalues. It f o l l o r r s from

t h e o b t a j ned r e l a t i o n t h a t :
e = R-'AR,
i . e . , i n o r d e r t o f i n d t h e e i g e n v a l u e s o f t h e m a t r i x A, :t i s
n e c e s s a r y t o f i n d t h e b a s i s t r a n s f o r m a t i o n f o r which t h e m a t r i x
A i s r e d u c e d t o d i a g o n a l form. I t i s known t h a t t h e o r t h o g o n a l
t r a n s f o r m a t i o n m a t r i x h a s one eigenval!ie e q u a l - i n g t1 ( a n d two
ccmplex c o n j u g a t e s ( 1 6 ) ) , f o r which t h e e i g e n v e c t o r c o r r e s p o n d s
t d the Euler rotation axis.

Let t h e m a t r i x B g i v e t h e o r t h o g o n a l t r a n s f o r m a t i o n t o t h e
a x e s of t h e b a s i s E f i n which t h e t r a n s f o r m a t i o n o f t h e m a t r i x A
i s a r o t a t i o n about t h e a x i s e 1 i . e . , he matrix A t determined
1'
i n accordance with (2.27) a s :
A' = BAB',
h a s t h e form:

where 3 i s t h e a n g l e o f r o t a t i o n a b a u t t h e r o t a t i o n a l a x i s .

Obviously, t h e p o s i t l o n o f t h e n a t u r a l r o t a t i o n a l a x i s o f
t h e m a t r i x A - e . , t h e d i r e c t i o n e l l - i s d e t e r m i n e d by t h e
f i r s t row o f t h e m a t r i x B [ i n a c c o r d a n c e w i t h ( 2 . 1 5 ) ] , whose
 e l e m e n t s musi; a l s o be s o l u t i o n s of t h e c h a r a c t e r i s t i c E q u a t i o n
( 2 . 2 1 ) . I n accordance w i t h (2.29), we can w r i t e :

By c a l c u l a t i n g t h e o b t a i n e d p r o d u c t of t h e t h r e e m a t r i c e s , we
g e n e r a t e t h e d i f f e r e n c e s o f t h e e l e m e n t s of t h e m a t r i x A, which
are symmetric w i t h r e s p e z t t o i t s d i a g o n a l :
a,, - a,, = 2b13siq 6 ,
a,,,- a;, = 2b12sin 6 ,
au - a, = 2b1,sin 6. 1
The t r a c e of t h e m a t r i x A i s n o t changed by s i m i l a r t r a n s f o r m a -
t i o n s and e q u a l s :

The elements b I j , which a r e t h e d i r e c t i o n c o s i n e s o f t h e

e i g e n v e c t o r ( E u l e r r o t a t i o n a x i s ) o f t h e m a t r i x A, a r e found
from t h e o b t a i n e d e q u a l i t i e s ( 2 . 3 0 ) and ( 2 . 3 1 ) :
r 1 = b 1 1 = ( a ~ - a ~ ) [ 4 - (-1a , , - ~ ~ - - a , ) ]
--2,I
I
r2='b12= - a,,)[4 - (I - a,, - a, - a ~ l - z , (2.32)
--I
r ~ = b 1 3 = ( a , 2 - ~ 2 1 ) [ 4 - ( 1- a l 1 - ~ ~ - a , ) ] .
2.

The b a s i c r e l a t i o n s c o n s i d e r e d h e r e , which d e f i n e o r t h o g o n a l
transformations, a r e s u f f i c i e n t f o r t h e subsequent i n v e s t i g a t i o n s .
The r e a d e r can f i n d a more d e t a i l e d e x a m i n a t i o n o f t h i s problem
i n the literature cited.

2.2. REPRESENTATION OF ORTHOGONAL TRANSFORMATIONS I N THE FOFM 1 ,-b

r 2 .

OF QUATERNION PRODUCTS

The r e p r e s e n t a t i o n o f an o r t h o g o n a l t r a n s f o r m a t i o n d e f i n e d
F
I by tile m a t r i x of d i r e c t i o n c o s i n e s A d i s c u s s e d i n t h e p r e c e d i n g
$ p a r a g r a p h i s t h e most g e n e r s l method f o r s p e c i f y i n g r i g i d body
?;
&.
motion. The m a t r i x A i t s e l f c c n t a i n s t h r e e independent p a r a -
E
the Euler plane r o t a t i o n vector ( i . e . , t h e q u a n t i t i e s (2.32)
rl, r2, r3 under t h e c o n d i t i o n s < - - ~ r f + r : = l a n d one - the angle of
rotation 8 .

Accordingly, $ r e e l e m e r ~ t sflaijfl can be e x p ~ e s s e da s f u n c t i o n s

o f t h e s e t h r e e parart:eter.s. However, t h e m a t r i x form f o r d e s c r i b -
i n g t h e o r t h o g o n a l transformat:ons t h e n becomes very i n c o n v e n i e n t
and dependent on t h e r e p r e s e n t a t i o n o f t h e o p e r a t i o n i n some b a s i s
o r o t h e r . The r e p r e s e n t a t i o n of o r t h o g o n a l t r a n s f o r m a t i o n s w i t h
t h e u s e of q u a t e r n i o n a l g e b r a i s s i g n i f i c a n t l y more c o n v e n i e n t .
This r e p r e s e n t a t i o n i s based on t h e fucdamental t h e o r e n 1.1
c o n s i d e r e d i n paragraph 1.3. I n accordance w i t h t h i s theorem,
t h e r o t a t i o n o p e r a t i o n (1.14) s p e c i f i e s t h e t r a n s f o r m a t i o n o f
t h e v e c t o r p a r t of t h e q u a t e r n i o n r i n t o r' (1.20) and
t h u s can be c o n s i d e r e d a s an o r t h o g o n a l t r a n s f o r m a t i o n i n r e a l
three-dimensional space.

Let t h e v e c t c r :

be s p e c i f i e d i n z t h r e e - d i m e n s i o n a l b a s i s I g e n e r a t e d by t h e
b a s i s v e c t o r s I, , i2,i3. F u r t h e r , l e t t h e m a t r i x B d e f i n e t h e
-
l i n e a r orthogonal transformation of t h e vector r i n t o t h e vector
r 1 s p e c i f i e d i n t h e form (2.19) which can a l s o be w r i t t e n i n
o p e r a t o r form (2.18):

(in t h i s c a s e B=AT ).

We w i l l c o n s i d e r t h e four-dimensional hypercomplex s p a c e H
g e n e r a t e d by t h e hypercomplex u n i t s 11. i2. i3. which f o r m a l l y
c o i n c i d e w i t h t h e b a s i s vectoi-s of t h e t h r e e - d i m e n s i o n a l b a s i s I.
 L e t t h e r o t a t i o n o p e ~ a t i o n( 1 . 2 0 ) d e t e r m i n e d b y t h e u n i t / 55
q u a t e r n i o n be s p e c i f i e d i n t h e s p a c e H which p u t s t h e v e c t o r
r i n t o c o r r e s p o n d e n c e w i t h t h e v e c t o l r'

O b v i o u s l y , t h e v e c t o r s r' and r a r e d e f i n e d by t h e i r components

i n t h e hypercomplex b a s i s H. The r o t a t i o n o p e r a t i o n ( 1 . 2 0 1 ,
by a n a l o g y t o t h e o p e r a t i o n ( 2 . 2 0 ) , t h e n s p e c i f i e s t h e t r a n s l o r r i a -
t i o n o f a v e c t o r i n t o a v e c t o r , which i s accomplished r e l a t i v e
t o t h e f i x e d b a s i s . We write t h e s e two t r a n s f o r m a t i o n : i n
c ~ c r d i n a t eform o b t a i n e d from f o r m u l a e ( 2 . 1 9 ) and ( 1 . 1 9 ) , re-
spectively :

W e identify the coefficients b of t h e t r a n s f o r m a t i o n

13
(2.34) w i t h t h e c o e f f i c i e n t s o f t h e l i n e a r t r a n s f o r m a t i o n ( 2 . 3 5 ) .
A u n i q u e c o r r e s p o n d e n c e between t h e forms f o r r e p r e s e n t i n g an
o r t h o g o n a l t r a n s f o r m a t i o n ( 1 . 2 0 ) &id ( 2 . 1 8 ) i s t h e n e s t a b l i s h e d .
T h i s c o r r e s p o n d e n c e i s i s o m o r p h i c , i . e . , any o p e r a t i o n o f a group
o f r o t a t i a n s i n t h e t h r e e - d i m e n s i o n a l s p a c e I d e f i n e d by t h e
o r t h o g o n a l m a t r i c B ( t h e o p e r a t o r B) c o r i e s p o n d s t o t h e r o t a t i o n
o p e r a t i o n i n t h e hypercomplex s p a c e s p e c i f i e d by t h e q u a t e r n i o n A ,
B and A b e i n g m u t u a l l y d e f i n e d by e a c h o t h e r .

A c t u a l l y , we w i l l c o n s i d e r t h e c o n d i t i o n s o f t h e group.
 1. To t h e i n v e r s e o p e r a t i c n ( 2 . 3 4 ) o r ( 2 . 1 8 )

t h e r e c o r r e s p o n d s t h e t r a n s f u i ~ 3 t i :o ~
-
r=.\or'oA,

Then t h e e q u a l i t i e s ~ 6 " - B " B = ~ and

. -
.\ o.\=.\o.\= 1 h o l d , i .e.,
t h e r e i s a n i d e n t i t y d e f i n e d by t h e i d e n t i c a l t r a n s f o r m a t i o n .

2. To t h e p r o d u c t o f two t r a n s f o r m a t i o n s :
r' = Br, r" =Cr',

i . e . , t h e t r a n s f o r m a t i o n d e f i n e d by t h e m a t r i x o p e r a t o r D
r"= Dr, D=CB,
t h e r e corresponds t h e product of t h e q u a t e r n i o n s o f t h e s u c c e s s i v e
transformations :
rt=>.oot.\,
- ru=Mot'ofi, r"=~oroR,
where :
N=MoA.

The q u a t e r n i o n components c a n s e r v e a s k i n e m a t i c p a r a m e t e r s
by a n a l o g y t o t h e e l e m e n t s o f t h e m a t r i x R, which a r e t h e
d i r e c t i o n cosines, s i n c e they uniquely define t h e p o s i t i o n of
,: one b a s i s w i t h r e s p e c t t o a n o t h e r . Hence, i t f o l l o w s t h a t t h e y
f can b e u s e d f o r d e s c r i b i n g r l g i d body motion r e l a t i v e t o some
$
.
L
s e l e c t e d c o o r d i n a t e system. It s h o u l d t h e n b e k e p t i n x i n d t h a t
'1
two q u a t e r n i o n s A and - A d e f i n i n g t h e same r o t a t i o n t r a n s f o r m a -
t i o n c o r r e s p o n d t o one p o s i t i o n o f t h e body.

It f o l l o w s d i r e c t l y from t h e f o r m u l a e ( 2 . 3 4 ) and ( 2 . 3 5 ) that

t h e components o f t h e q u a t e r n i o n A d e f i n e t n e e l e m e n t s of t h e
m a t r i x B. Hence, one can 2 l s o d e t e r m i n e t h e components o f A ( a s
s h o u l d be e x p e c t e d , t h e y a r e o b t a i n e d w i t h two s i g n s ) , i f t h e q u a n t i -
ties b a r e given. Actually, i n accordance with ( 2 . 3 & ; .t. save
iJ
and, by c o n s i d e r i n g t h e d i f f e r e n c e of t h e elements symmetric
with respect t o t h e diagonal, w e obtain:

By comparing t h e r e l a t i o n s ( 2 . 3 6 ) , (2.37) and ( 2 . 3 1 ) , (2.32),

one can e a s i l y v e r i f y t h a t t h e v e c t o r p a r t o f t h e q u a t e r n i o n A
i s t h e a x i s of t h e E u l e r r o t a t i o n , i - e . , i t i s t h e e i g e n v e c t o r
of t h e m a t r i x B (one should t a k e t h e f a c t i n t o acccunt t h a t
i n our c a s e B = A t and t h e components X i a r e t h e d i r e c t i o n c o s i n e s
of t h e u n i t v e c t o r 5 of t h e q u a t e r n i o n A ) .

3 2.1. BASIS TRANSFORMATION

The correspondence o b t a i n e d between t h e two forms f o r

representing t h e transformation of a vector r i n t o t h e vector
r t p e r m i t s t h e orthogonal t r a n s f o r m a t i o n o p e r a t i o n (2.19) t o be
w r i t t e n i n t h e form (1.20). The t r a n s f o r m a t i o n of (1.20) w i l l
always t r a n s f o r m a v e c t o r , s i n c e t h e b a s i s I remains f i x e d ,
formally c o i n c i d i n g w i t h t h e b a s i s v e c t o r s I of t h e hyper-
j
complex space H i n which t h e q u a t e r n i o n m u l t i p l i c a t i c n o p e r a t i o n
i s accomplished. N e v e r t h e l e s s , one can f i n d , wifn t h e known
o p e r a t i o n s f o r t r a n s f o r m i n g b a s e s and c o o r d i ~ a t e saf a f i x e d
v e c t o r , t h e q u a t e r n i o n o p e r a t i o n uniquely corresponding t o them.

We w i l l c o n s i d e r t h e problem of b a s i s t r a n s f o r m a t i o n .
Let t h e r e be given i n three-dimensional s p a c e , i n a d d i t i o n t o
t h e b a s i s I , t h e orthonormal b a s i s E w i t h t h e b a s i s e c t o r s ei,
where :
S
ck == Z: ckrir (1, k = 1, 2, 3).
I-I (2.38)
L e t us f u r t h e r c o n s i d e r t h e o r t h o g o n a l t r a n s f o ~ m a t i o no c c u r r i n g
on t h e components o f t h e v e c t o r s ek :

Obviously, t h e e l e m e n t s eli d e f i n e new v e c t o r s : -

/5 8

which are o b t a i n e d from ek by t h e o r t h o g o n a l t r a n s f o r m a t i o n

(2.39). T h i s t r a n s f o r m a t i o n can a l s o b e w r i t t e n i n m a t r i x form:
e; = Be, (k = 1, 2, 3). (2.40)

One can v e r i f y t h a t t h e v e c t o r s e v k form an orthonormal

b a s i s E v ( t h i s i s s a t i s f i e d because o f t h e o r t h o g o n a l i t y c o ~ d i -
t i o n s of t h e m a t r i x B). I n view o f t h e isomorphSsm o f t h e o r t h o -
g m a l t r a n s f o r m a t i o n o p e r a t i o n (2.34) and t h e r o t a t i e s p e r a t i o n
( 1 . 2 0 ) , t h e t r a n s f o r m a t i o n o f bases ( 2 . 3 9 ) o r (2.40) can b e
w r i t t e n i n t h e form:
e;-AoekoX (k-= 1, 2, 3). (2.41)

Such a transformation a c t u a l l y d e f i n e s t h e b a s i s t r a n s f o r m a t i o n .
The v e c t o r s e t k w i l l b e u n i t v e c t o r s ( s i n c e t h e r o t a t i o n t r a n s -
f o r m a t i o n does n o t change t h e v e c t o r norm) and m u t u a l l y o r t h o -
g o n a l . By c o n s i d e r i l ~ gt h e s c a l a r p r o d u c t , one can ?e t h a t t h e
orthogonality conditicn is s a t i s f i e d :

-
i.e., t h e v e c t o r s e t k form t h e b a s j s El.

Hence, i t i s s e e n t h a t t h e b a s i s t r a n s f o r m a t i o n s p e c i f i e d i n
t h e form of t h e r o t a t i o n o p e r a t i o n ( 2 . 4 1 ) c o r r e s p o n d s t o o n l y one
53
of t h e forms c o l ~ s i d e r e t ?above f o r s p e c i f y i n g r i g i d body m o t i o n ,
namely, t o t h e o r t h o g o n a l t r a n s f o r m a t i o n i n t h e form ( 2 . 2 0 ) .

Another form f o r r e p r e s e n t i n g t h e b a s i s t r a n s f o r m a t i o n ( 2 . 2 )
and ( 2 . 1 3 ) e x p r e s s e s t h e b a s i s v e c t o r s o f t h e new S a s i s i n t h e
form o f t h e i r r e s o l u t i o n a l o n g t h e v e c t o r s o f t h e r t f e r ,ante
b a s i s . Such a t r a n s f o r m a t i o n form c a n n o t b e w r i t t e n i n t h e
form o f a r o t a t i o n o p e r a t i o n ( 1 . 2 0 ) . Nevertheless, t h e elements
o f t h e m a t r i x o f t h e t r a n s f o r m a t i o n s ( 2 . 2 ) and ( 2 . 3 ) c a n b e
e x p r e s s e d by t h e m a t r i x e l e m e n t s o f t h e r o t a t i o n t r a n s f o r m a t i o n , / 59
s i n c e t h e t r a n s f o r m a t i o n s i n t h e form ( 2 . 1 8 ) , ( 2 . 4 0 ) and i n t h e
form ( 2 . 2 ) , ( 2 . 1 3 ) have m u t u a l l y i n v e r s e m a t r i x e s (i.~., t r a n s -
posed m a t r i c e s ) .

A c t u a l l y , l e t t h e b a s i s t r a n s f o r m a t i o n be s p e c i f i e d i n t h e
form ( 2 . 3 9 ) . We w i l l show t h a t t h e b a s i s v e c t o r s o f t h e new
b a s i s elk a r e e x p r e s s e d by t:le b a s i s v e c t o r s o f t h e r e f e r e n c e
b a s i s ek w i t h t h e h e l p o f he i n v e r s e m a t r i x B T . W e have, i n
accordance wtth (2.39):
1 3

where t h e b a s i s v e c t o r s 1, a r e e x p r e s s e d w i t h t h e h e l p o f t h e
I
t r a n s f o r m a t i o r , t h e i n v e r s e of ( 2 . 3 8 ) . S i n c e t h e e l e n e n t s i i e d
form an o r t h o g o n a l t r a n s f o r m a t i o n b a s i s , t h e n t h e f o l l o w i n g
equality i s valid

By s u b s t i t u t i n g t h i s u n i t i n z o t h e sum d e t e r m i n i n g e t k , we
obtain:
Here t h e o r t h c g o n a l i t y c o n d i t i o n s ( 2 . 4 ) were u s e d . It f o l l o w s
from ( 2 . 4 2 ) t h a t t h e e l e m e n t s o f t h e m a t r i x B ~ which, determine
t h e r e s o l u t i o n o f t h e v e c t o r s o f t h e b a s i s E' a l o n g t h e v e c t o r s
of t h e b a s i s E, a r e e q u i v a l e n t t o t h e e l e m e n t s o f t h e r o t a t i o n
t r a n s f o r m a t i o n m a t r i x (2.35) s p e c i f i e d by t h e i n v e r s e q u a t e r n i o n
e
A.

Let u s f u r t h e r c o n s i d e r t h e r e p r e s e n t a t i o n o f t h e v e c t o r s
of t h e b a s i s E (2.38). I t can b e s e e n t h a t t h e c o e f f i c i e n t s

e k i form an o r t h o g o n a l t r a n s f o r m a t i o n m a t r i x c h a n g i n g t h e b a s i s
v e c t o r s lk i n t o t h e b a s i s v e c t o r s ek. The form o f t h e t r a n s -
f o r m a t i o n , by a n a l o g y t o ( 2 . 3 9 ) , w i l l b e t h e obvious i d e n t i t y :

which makes t h e new componsnts eki of t h e b a ; i s E a g r e e w i t h -

/60
t h e u n i t components o f t h e r e s o l u t i o n o f t h e r e f e r e n c e b a s e s
( e . 1 I n view o f t h e isomorphism o f o r t h o g o n a l t r a n s f o r m a -
t i o n o p e r a t i o n ar.d t h e r o t a t i o n o p e r a t i o n , t h e r e e x i s t s a q u a t e r n -
i o n S , whose components are d e t e r m i n e d by t h e e l e m e n t s e from
kj
r e l a t i o n s a n a l o g o u s t o (2.36) and ( 2 . 3 7 ) , which s a t i s f i e s t h e
equality:

One can s e e from t h i s r e p r e s e n t a t i o n t h a t t h e e l e m e n t s o f

t h e i n v e r s e ( t r a n s p o s e d ) m a t r i c e s I l q , ~ . t a k e p a r t i n Ltle f o r n u l a
o f t h e v e c t o r r e s o l u t i o n ( 2 . 3 8 ) and t h e a r t h o g m a 1 t r a n s f o r m a -
t i o n (2.43).

We n o t e once a g a i n t h a t t h e t r a n s f o r m a t i o n ( 2 . 4 4 ) s p e c i f i e s
t h e r o t a t i o n o f a v e c t o r , i . e . , it i s i s o m o r p h i c t o t h e t r a n s -
f o r m a t i o n ( 2 . 4 0 ) and n o t t o ( 2 . 2 ) .
 2.4. T R A N S F O R M A T I O N O F COMPONENTS O F A F I X E D V E C T O R -
-
HYPERCOMPLEX M A P P I N G

I n t h e p r e c e d i n g two p a r a g r a p h s , t h e v e c t o r t r a n s f o r m a t i o n
and t h e b a s i s t r a n s f o r m a t i o n were s p e c i f i e d i n t h e form of t h e
r o t a t i o n o p e r a t i o n ( 1 . 2 0 ) . Let u s now c o n s i d e r how t h e t r a n s -
f o r m a t i o n o f t h e components o f a f i x e d v e c t o r , which o c c u r s due
t o a change of b a s i s , can be r e p r e s e n t e d i n t h e same form.

Let us c o n s i d e r t h e f i x e d v e c t o r r. Let i t s p r o j e c t i o n on
t h e a x e s of t h e b a s e s E and E1 be t h e q u a n t i t i e s riE and riEI
respectively:

We introduce t h e f o l l o w i n g q u a t e r n i o n s composed o f t h e com-

p o n e n t s of t h e v e c t o r i n t h e b a s e s E and E 1 :

We w i l l c a l l t h e q u a t e r n i o n s ( 2 . 4 6 ) hypercomplex mappings
( o r simply mappings) of t h e v e c t o r r o n t o t h e b a s e s E and E1
r e s p e c t i v e l y . The hypercomplex mapping of a v e c t o r o n t o some
basis coincides with t h e vector i t s e l f , i f t h i s b a s i s coincides
w i t h t h e t h r e e v e c t o r s il, i2, i of t h e hypercomplex s p a c e
3 -
/ 61
H o r c o i n c i d e s w i t h t h e b a s i s I , which i s t h e same t h i n g .

The b a s i s v e c t o r s ~ f t h e b a s i s E1 a r e e x p r e s s e d by t h e
b a s i s v e c t o r s of t h e b a s i s E w i t h t h e h e l p o f t h e r o t a t i o n
o p e r a t i o n ( 2 . 4 1 ) . We s u b s t i t u t e t h e r e l a t i o n s ( 2 . 4 1 ) i n t o t h e
e q u a l i t i e s (2.45):
 I f t h e b a s i s v e c t o r s of t h e b a s i s E c o i n c i d e w i t h t h e v e c t o r s

il, i 3 o f t h e hypercomplex s p a c e , t h e n i n t h e o b t a i n e d e q u a l i t y :

3 3
t h e q u a n t i t i e s 2 riEel and 2 rlE.eic o i n c i d e w i t h f he hypercomplex
[=I !=I
mappings of t h e v e c t o r r o n t o t h e b a s e s E and E f ( 2 . 4 6 ) . Hence
it follows t h a t :
RE=AoREnoA.
-

By m u l t i p l y i n g t h i s e x p r e s s i o n on t h e l e f t by and on t h e r i g h t
by A , we o b 3 a i n :

Thus, t h e f o l l o w i n g theorem i s v a l i d .

Theorem 2 . 1 . Ir t h e t r a n s f o r m a t i o n o f t h e u n i t v e c t o r s of
t h e b a s i s E i n t o t h e v e c t o r s of t h e b a s i s E f i s d e f i n e d by t h e
r o t a t i o n operation (2.41), then t h e transformation of t h e
c o o r d i n a t e s of a f i x e d v e c t o r o n t o t h e s e b a s e s i s s p e c i f i e d by t h e
i n v e r s e o p e r a t i o n ( 2 . 4 7 ) performed on t h e mappings.

The o b t a i n e d r e s u l t i s n a t u r a l , s i n c e o r t h o g o n a l t r a n s f o r m a -
t i o n s s p e c i f y i n g a b a s i s t r a n s f o r m a t i o n i n t h e form ( 2 . 2 0 ) and
t h e t r a n s f o r m a t i o n o f t h e components o f t h e f i x e d v e c t o r ( 2 . 1 5 )
a r e i n v e r s e . S i n c e t h e r o t a t i o n o p e r a t i o n s ( 2 . 3 3 ) and ( 2 . 4 1 )
s p e c i f y t h e t r a n s f o r m a t i o n s of u n i t v e c t 3 r s , e a c h o f which i s
r e p r e s e n t e d i n q u a t e r n i o n form, i . e . , s p e c i f i e d by t h e i r components
i n t h e b a s i s I , t h e n t h e i n v e r s e o p e r a t i o n ( 2 . 4 7 ) , which s p e 2 i f i e s - /62 :
t h e t r a n s f o r m a t i o n of t h e components of a f i x e d v e c t o r i n t h e s e
b a s e s , i s performed on t h e q u a t e r n i o n s which a r e a l s o t h e
mappings ( 2 . 4 6 ) . The components r o f t h e v e c t o r r can b e
i E'
found from t h e components riEf i f t h e q u a t e r n i o n m u l t i p l i c a t i o n
i s performed i n faramula ( 2 . 4 7 ) and t h e elements o f t h e b a s i s
v e c t o r s of t h e s p a c e H a r e equated.

I n accordance w i t h theorem 2 . 1 , one can e x p e c t t h a t i f f o r

a b a s i s t r ~ ~ s f o r m a t i o(nf o r example, w i t h t h e t r a n s f o r m a t i o n
( 2 . 4 1 ) ) c e r t a i n q u a n t i t i e s a r e t r a n s f o r m e d by t h e i n v e r s e opera-
t i o n ( f o r exampie, ( 2 . 4 7 ) ) , t h e n t h e y d e f i n e a f i x e d v e c t o r . We
w i l l f i n d t h e r e l a t i o n between t h e p r o j e c t i a n s o f t h e v e c t o r r
o n t o t h e b a s i s E l n d i t s p r o j e c t i o n s on t h e b a s i s I. We denote
t h e p r o j e c t i o n s 01' t h e v e c t o r r o n t o t h e b a s i s I by t h e q u a n t i t i e s

The t r a n s i t i o n from t h e b a s i s I t o t h e b a s i s E i s determined

by t h e q u a t e r n i o n S w i t h t h e h e l p o f t h e r o t a t i o n o p e r a t i o n (2.44).
I n accordance w i t h theorem 2 . 1 , t h e components o f ' ! I must be
e x p r e s s e d by riE w i t h t h e h e l p of t h e i n v e r s e o p e r a t i o n performed
on t h e mappings. A c t u a l l y , t h e mapping of r o n t o t h e b a s i s
I coincides with t h e vector i t s e l f :

By r e p l a c i n g ei by i t s v a l ~ e( 2 . 4 4 ) we o b t a i n :

-
from which i t f o l l o w s :
 2.5. VARIANCE OF THE R3TATION OPERATIOK. RODRIGUEZ - HAMILTON
PARAMETERS

N c w , l e t u s c o n s i d e r how t h e o p e r a t f o n ( 2 . 3 3 ) f o r t h e
trznsformation of t h e vector r i n t o t h e vector r t appears, i f
i t i s w r i t t e n i n p r o j e c t i o n s of t h e v e c t o r r , n o t o n t o t h e b a s l s
I , b u t o n t o a n o t h e r b a s i s , say E. We d e n c t e t h e p r o j e c t i o n s
of t h e v e c t o r r o n t o t h e b a s e s E b y riE, and t h e p r o j e c t i o n s of
t h e v e c t o r r t o n t o t h e b a s i s E by r V i r We have :

where r,, r;, a r e t h e p r o j e c t i o n s of t h e v e c t o r s r and r 1on t h e --

/ 53
b a s i s I ( d e n o t e d e a r l i e r a s ri) and r t i and R and R t I a r e t h e
I
hyperccmplex mappings o f t h e v e c t o r s r and r t on t h e b a s i s I
c o i n c i d i n g w i t h t h e v e c t o r s r and r t o n t o t h e basis E:

I n accordance w i t h theorem 2 . 1 t h e p r o j e c t i o n s of t h e
v e c t o r s r a n d r t o n t o t h e b a s i s v e c t o r s of t h e b a s i s E a r e
coupled w i t h t h e i r p r o j e c t i o n s o n t o t h e b a s i s v e c t o r s of t h e
b a s i s I by t h e o p e r a t i o n performed upon t h e hypercomplex mappings
and t h e i n v e r s e b a s i s t r a n s format i o n o p e r a t i o n . S i n c e t h e t r a n s -
f o r m a t i o n of t h e b a s i s v e c t o r s of t h e b a s i s E i s d e t e r m i n e d by
t h e o p e r a t i o n ( 2 . 4 4 ) , t h e n by analogy t o ( 2 . 4 8 ) we have:
 L e t u s f i n d t h e r e l a t i o n of R t E and RE. The mappings o f

R' I and R I c o i n c i d e w i t h t h e v e c t o r s r' . i r and c o n s e q u e n t l y

t h e y a r e r e l a t e d by t h e r e l a t i o n s ( 2 . 3 3 ) . Thus:

where t h e q u a t e r n i o n S O A O S i s d e n o t e d by AE , and t h e n ,
- .
o b v i o u s l y , A ~ = S ~ A ~ SOne c a n s e e ( c f . p a r a g r a p h 1 . 3 ) t h a t
t h e q u a t e r n i o n AE h a s t h e same s c a l a r p a r t a s t h e q u a t e r n i o n A .
The v e c t o r p a r t of t h e q u a t e r n i o n AE i s o b t a i n e d from t h e v e c t o r
p a r t o f t h e q u a t e r n i o n A by t h e r o t a t i o n t r a n s f o r m a t i o n
(?..20j, i . e . :

One can c o n c l u d e from t h i s e q u a l i t y by ~ i s i n gt?,e r e s u l t s ' 64

of theorem 2 . 1 t h a t t h e v e c c o r p a r t o f t h e q u a r e r . on A s p e c i f y -
i n g t h e r o t a t i o n operation (2.33) i s a f i x e d v e c t c r , s i n c e t h e
b a s i s t r a n s f o r m a t i o n i s changed i n a c c a r d a n c e w i t h t h e r u l e s o f
t h e transformation of t h e ccordinates of a f i x e d vector. I n
addition, it i s e a s i l y noted t h a t t h e transformation operation
( 2 . 4 5 ) m a i n t a i n e d i t s form i d e n t i c a l l y w i t h ( 2 . 3 3 ) . Hence, we h a v e
t h e f o l l o w i n g theorem:

Theorem 2.2. The r o t a t i o n o p . ? r a t i o n ( 2 . 3 3 ) i s i n v a r i a n t

r e l a t i v e t o a b a s i s t r a n s f o r m a t i o n i f t h e v e c t o r s r and r 1
and t h e v e c t o r p a r t of t h e q u a t e r n i o n o f t n e t r a n s f o r m a t i o n A
a r e e x p r e s s e d i n t h e c o o r d i n a t e s o f t h e same a r b i t r a r y b a s i s ;
t h e transformation of t h e coordinates of t h e s e v e c t o r s i s
c a r r i e d o u t i n a c c o r d a n c e w i t h t h e r u l e s f o r t r a n s f o r m i n g an
2 i n v a r i a n t v e c t o r . Thus, t h e o p e r a t i o n f o r t r a n s f o r m i n g t h e
A f
$
,.
;B: v e c t o r r i n t o t h e v e c t o r r 1 c a n b e w r i t t e n i n t h e components of
X.
T.
,.. r and r 1 i n any b a s i s . The v e c t o r p a r t of t h e q u a t e r n t o n A
$,
6. s h o u l d t h e n a l s o b e p r o j e c t e d o n t o t h e same b a , @ i s .
 I n view o f t n e f a c t t h a t une can w r i t e :

The c o n t e n t o f t h e o r e m 2 . 2 can a l s 3 b e i n t e r p r e t e d s o
t h a t t h e o p e r a t i o n ( 2 . 4 9 ) can b e d e s c ~ i b e di n t h e form ( 1 . 2 0 )
on t h e q u a n t i t l e s Then t h e " r u l e s " f o r m u l t i p l y i n g
t h e b a s i s v e c t o ~ > esi a r e a n a l o g o u s t o t h e r u l e s f o r m u l t i p l y i n g
t h e h y ~ e r c o m p l e xn u n b e r s . It i s e a s i l y u r i ~ e r s t c , s dt h a t t h i s i s
due t o t h e f a c t t h a t t h e b a s i s v e c t o r s 5 .,- I,, i 3 ox' t h e h y p e r -
complex s p a c e H ct b e made t o c o i n c i d e . : i t h a n y 7 b a s i s o f r e a l
t h r e e - d i m e n s i o n a l s p a c z . Then t h e v e c t o r s o f t h e t h r e e - g i m e n s i o n a l
s p a c e c o i n c i d e w i t h t h e q u a t e r r f m s , t;ke mappings o f t h e s e
vectors .
Theorem 2 . 2 e s ~ s b l i s l ~ ey se t a l l o t h e r p e c u l i a r i t y o f t h e
r o t a t i o n o p e r a t i o n ( 2 . 3 3 ) - t h e f a c t t h a t t h i s o p e r a t i o n lias a
v e c t o r meaning. B y u s i n g t h e r e p r e s e n t a t i o n o f q u a t e r ~ i o n
multiplication w i t h t h e hr l p o f t h e v e c t o r m u l t i p i i c a t i o n
o p e r a t i o n ( l a g ) , o r ~ ecan r e p r e s e n t t h e t r a n s f o r m a t i o n ( 2 . 3 3 ) w i t h
t h e h e l p o f t h e v e c t o r o p e r a t i o n s i n three-dimensions: s p a c e .

~t i s n e c e s s a r y &*oI=t h i s t o r e p r e s e r ~ t t h e t r a n s t o r r i i a t i o n -
/6 5
quaternion A a s a fxnction o f a ihree-dimensional vector. Thle
can b e dope b y c o n s i d e r i n g t h e q u a n t i t y :

which d e t e r m i n e s t h e q u a t e r n i o , : A b y t h e v e c t o r :
 The v e c t o r 0 i s c a l l e d t h e f i r , i c e r o t a t i o n v e c t o r [31, 441.
By using t h e r e p r e s e n t a t i o n of t h e q u a t e r n i o n i n t h e form ( 1 . 1 1 ) ,
one can s e e t h a t t h e f i n i t e r o t a t i a n v e c t o r e q u a l s :

By u s i n g f o r m u l a (l.g), w e r e p l a c e t h e q u a t e r n i o n m u l t i p l i -
c a t i o n o p e r a t i o n i n r e l a t i o n (2 33) by t h e v e c t o r m u l t i p l i c a t i o n
operation i n three-dimensional space:

By r e d u c i n g t h e similar t e r m s and t a k i n g i n t o a c c o u n t t h a t
(1xr)-L=Oaand a l s o t h a t (kXr)Xl= AX(rXl=)=r(k-A)- Nr.A), we w r i t e
t h e o S t a i n e d e x p r e s s i o n f o r r 1 i n t h e form:
r8=& +2?.$.~r +.rk2- 2 ( r ~ -*A r A)=
=r+2I&).~-22X(rXk)=

where :

We u s e t h e f i n i t e r o t a t i o n v e c t o r i n t r o d u c e d i n ( 2 . 5 1 ) b y
c o n s i d e r i n g t h a t , i n accordance w i t h ( 2 . 5 2 ) ,
 We o b t a i n t h e well-known R o d ~ i z u e zf o r m u l a f o r t r a n s f o ~ m i n g
t h e vector with f i n i t e rotaLion:

We f o r t h e r n o t e t h a t t h e q u a t e r n i o n A, which s p e c i f i e s
t h e operation (2.41) of t h e orthogonal transformation of t h e
b a s i s E i n t o b a s i s E', a l s o d e t e r m i n e s t h e f i n i t e r o t a t i o n
vector 0 (2.51). This transformation i s a c t u a l l y a r o t a t i o n
about t h e a x i s 0, s i n c e t h e v e c t o r 8 itself with such a t r a n s -
f o r i n a t i o n i s n o t changed:

By u s i n g a r e p r e s e n t a t i o n o f a q u a t e r n i o n i n t h e form ( 1 . 1 1 ) ,
one can w r i t e i t s components i n t h e f o l l o w i n g fcrm:

Where Y I * P * Y s a r e t h e d i r e c t i o n c o s i n e s o f t. e v e c t o r 8 ,
as w e l l as A , i n t h e a x e s o f t h e b a s i s u n d e r c o n s i d e r a t i o n .
Correspondingly, t h e f i n i t e r o t a t i o n v e c t o r o r t h e t r a n s f o r ~ a t i o n
q u a t e r n i o n c a n b e s p e c i f i e d by i t s components i n any b s s i s . By
a n a l o g y t o t h e hypercomplex mappings o f a f i x e d v e c t o r o n t o some
b a s i s , w e .,ill c o n s i d e r t h e q u a t e r n i o n components esrnposed o f
t h e components ( 2 . 5 4 ) , where i i s t h e p r o j e c t i o n of t h e v e c t o r
5 o f t h e q u a t e r i i i o n on a g i v e n b a s i s . The l a t t e r i s c a l l e d
t h e mapping o f t h e q u a t e r n i o n A o n t o t h e b a s i s u n d e r c o n s i d e r a t i o n .
O b v i o u s l y , t h e q u a t e r n i o n mapping h a s t h e same s c a l a ? p a r t a s t h e
i n i t i a l q u a t e r n i o n a.. t h e v e c t o r p a r t e q u a l i n g t h e mapping
o f t h e v e c t o r p a r t o f t h e q u a t e r n i o n o n t o t h i s b a s i s . Thus,
t l e mapping o f t h e q u a t e r n i o n A=ho+k o n t o t h e b a s i s E w i l l b e t h e
quaternion introduced previously ( c f . 2.49):
 e w i l l denote t h e mapping o f t h e q u a t e r n i o n o n t o t h e
W
b a s i s by t h e index o f t h i s b a s i s i n c o n t r a s t t o t h e i n i t i a l
q u a t e r n i o n without an index. I n accordance w i t h theorem 2 . 1 ,
E

t h e mapping o f a q u a t e r n i o n i s found by t h e r o t a t i o n o p e r s t i o n , -
/67
t h e i n v e r s e of t h e b a s i s t r a n s f o r m a t i o n .

The components of t h e q u a t e r n i o n i n t h e c o o r d i n a t e system,

which is generated by t h i s q u a t e r n i o n , have a p e c u l i a r meaning.
I n t h e c a s e under c o n s i d e r a t i o n , t h e basis E transformed by t h e
q u a t e r n i o n A i n t o che b a s i s E' i s such a system. The transforma-
t i o n o f t h e b a s i s E i n t o t h e b a s i s Ev 1s determined by t h e
o p e r a t i o n (2.41). I n accordance w i t h theorem 2 . 2 , t h i s Lransfor-
mation can be w r i t t e n i n t h e p r o j e c t i o n s o f t h e u n i t v e c t o r s
ei and e v i and t h e q u a t e r n i o n A o n t o t h e b a s i s E ( t h e same a s o n t o
any o t h e r b a s i s ) .

f
&
The components of t h e q u a t e r n i o n A i n t h e b a s i s E a r e
, determined by t h e mapping AE. I n view of t h e f a c t t h a t t h e
., t r a n s f o r m a t i o n (2.41) of t h e b a s i 3 v e z t o r s o f t h e b a s i s E
i'

f i n t o t h e b a s i s v e c t o r s of t h e b a s i s E * , i n accordance w i t h
F
5
theorem 2.2, can be w r i t t e n i n t h e form (2.49), i . e . , i n
i
z t h e form:
k
= 4 (%IE*
(4)=
t h e n t h e components o f A i n t h e b a s i s E' determine t h e mapping
of A onto t h e b a s i s Ev w i t h t h e h e l p of t h e i n v e r s e o p e r a t i o n :

Hence, it i s seen t h a t t h e components of t h e q u a t e r n i o n A

i n the b a s i s E and El a r e i d e n t i c a l . The q u a t e r n i o n components
i n the b a s i s transformed by t h i s q u a t e r n i o n , which a r e s p e c i f i e d
i n the form (2.54), a r e c a l l e d t h e Rodriguez-Hamilton parameters
C311.
 The q u a t e r n i o n whose components a r e t h e Rodriguez-Hamilton
p a r a m e t e r s w i l l b ~ n o t e d below by an a s t e r i s k . T h i s q u a t e r n i o n
h a s e q u a l components i n two c o o r d i n a t e s y s t e m s , b e c a u s e i t i s
t h i s q u a t e r n i o n which d e t e r m i n e s t h e t r a n s i t i o n from one
c o o r d i n a t e s y s t e m t o a n o t h e r . I n t h i s connection, t h e q u a t e r n i o n
whose p a r a m e t e r s are t h e Rodriquez-Hamilton p a r a m e t e r s h a s a
p e c u l i a r meaning. It i s as i f i t were a n " e i g e n " q u a t e r n i o n o f
t h e t r a n s f c r m a t i on.

We w i l l s u b s e q u e n t l y , by c o n v e n t i o n , c a l l q u a t e r n i o n s
composed o f t h e Rodriguez-Hamilton p a r a m e t e r s e i g e n q u a t e r n i o n s
of t h e transformations. In t h i s case:
-
A'=Ar=Ar.=SoAoS.

w i l l be such a quaternion. /68

J u s t a s t h e t r a n s i t i o n from t h e b a s i s I t o t h e b a s i s E
d e t e r m i n e s t h e q u a t e r n i o n S ( 2 . 4 4 ) , i n a c c o r d a n c e w i t h theorem
2.1, w e o b t a i n t h e f o l l o w i n g magnitudes of t h e mappings o f t h e
q u a t e r n i o n S o n t o t h e b a s e s I and E:
S/=S,
-
sE=s~sI~s==s,
from which:

-
2.6. SUMMATION OF ROTATIONS

The a d d i t i o n o f f i n i t e r o t a t i o n s o c c u r s w i t h t h e performance
o f a s e q u e n c e o f two, t h r e e , e t c . o r t h o g o n a l t r a n s f o r m a t i o n s .
The m u l t i p l i c a t i o n o p e r a t i o n of t h e m a t r i c e s o f t h e component
t r z ? s f o r m a t i o n s c o r r e s p o n d s t o t h i s . If t h e f i r s t t r a n s i t i o n
( f o r example, from t h e b a s i s E t o t h e b a s i s E 1 ) i s s p e c i f i e d by
t h e m a t r i x A and t h e s e c o n d (from E1 t o E") i s d e t e r m i n e d by
t h e m a t r i x B, t h e n t h e ' r i x o f t h e r e s u l t i n g r o t a t i o n C (from
t h e b a s i s E t o t h e b a s i s E m ) w i l l b e s p e c i f i e d by t h e p r o d u c t :

C = BA. (2.55)

I f t h e t r a n s i t i o n o p e r a t i o n from t h e b a s i s E t o t h e basis
E' i s d e t e r m i n e d by t h e i s o m o r p l ~ i cr o t a t i o n o p e r a t i o n s p e c i f i e d
by t h e q u a t e r n i o n A
(2.41) and t h e t r a n s i t i o n o p e r a t i o n froin t h e
b a s i s E l t o t h e basis Elt i s s p e c i f i e d a n a l o g o u s l y by t h e
q u a t e r n i o n M" :

t h e n t h e q u a t e r n i o n o f t h e r e s u l t i n g t r a n s f o r m a t i o n N d e f i n e d by
the t r a n s i t i o n operation:
.;=N~~,~R*
is found as t h e p r o d u c t o f t h e q u a t e r n i o n s o f t h e t r a n s f o r m a t i o n
components :
N=MoA

( t h i s was c o n s i d e r e d i n p a r a g r a p h 1 . 3 ) . We n o t e h e r e t h e
s i m i l a r i t y i n t h e formulae of t h e o p e r a t o r m u l t i p l i c a t i o n ( 2 . 5 5 )
and ( 2 . 5 6 ) .

The components of t h e q u a t e r n i o n S = vo + + h i 2 + V I ~ S are

determined by t h e , ~ m p o n e n t s o f t h e q u a t e r n i o n s o f t h e t r a n s f o r - /69
a
+
m a t i o n components A = r, 2 h,i, and f = t o
t-1
+
/-I
S
& , , ir. accord-
ance w i t h t h e r u l e s of q u a t e r n i o n m u l t i p l i c a t i o n ( 1 . 5 ) . By
performing t h i s m u l t i p l i c a t i o n and e q u a t i n g t h e c o e f f i c i e n t s
of t h e b a s i s v e c t o r s , w e o b t a i n f o u r s c a l a r e q u a t i o n s :

The components A,, p, and vr o f t n e component and r e s u l t i n g qLa-

t e r n i o n detetan!ine i n t h e c o o r d i n a t e systen: I (i.e. , i n t h e
s y s t e m where t h e q u a t e r n i o n s a r e s p e c i f i e c i ) t h e v e c t o r s o f t h e
f i r s t , second and r e s u l t i n g r o t a t i o n s . ijowever, i n t h e p r e c e d i n g
p a r a g r a p h i t was shown t h a t t h e r o t a t i o n o p e r a t i o n i s v a l i d i n
any c o o r d i n a t e system i f t h e t r a n s f o r m e d v e c t o r s and t h e v e c t o r
payts of t h e transformation quaternions a r e expressed i n it.
Let u s c o n s i d e r how t h e t r a n o format i o n summation o p e 2 a t i o n ( 2 . 5 6 )
a p p e a r s i f it i s e x p r e s s e d i n a n o t h e r b a s i s .

Let t h e t r a n s i t i o n from t h e b a s i s I t o t h e b a s i s E be
determined by t h e q u a t e r n i o n S i n a c c o r d a n c e w i t h ( 2 . 4 4 ) . Then
t h e q u a n t i t i e s s i (i=0.1.2,3)will be t h e components o f t h i s q u a t e r n i o n
i n t h e b a s e s I and E , s i n c e che mapping o f t h e q u a t e r n i o n o n t o
t h e b a s i s I c o i n c i d e s w i t h t h e q u a t e r n i o n i t s e l f SI = S , and t h e
mapping o f S o n t o t h e b a s i s E i s d e t e r m i n e d by t h e r o t a t i o n
operation, t h e inverse of (2.44), i . e . :

Let u s c o n s i d e r t h e q u a t e r n i o n A d e t e r m i n i n g t h e f i n i t e r o t a t i o n
c o n v e r t i n g t h e b a s i s E i n t o t h e b a s i s Et. The q u a t e r n i o n :

w i l l be ( c f . t h e p r e c e d i n g p a r a g r a p h ) t h e mapping o f t h e q u a t e r n -
i o n A o n t o t h e b a s i s E. S i n c e t h e t r a n s i t i o n from t h e b a s i s I
t o t h e b a s i s El i s d e t e r m i n e d by t h e s u c c e s s i v e a p p l i c a t i o n o f
S and A , t h e n , i n agreement w i t h ( 2 . 5 6 ) , t h e r e s u l t i n g t r a n s i t i o n
i s d e t e r n i r , ~ aby t h e p r o d u c t A O ~ . I n a c c o r d z n c e w i t h t h i s , t h e
mappin; of A o n t o t h e b a s i s E t i s found a s : / 70

which was shown p r e v i ~ ulsy .

 The t r a n s i t i o n from t h e b a s i s I t o t,he b a s i s E" i s d e t e r -
mined by t h e sequence o f t r a n s i t i o n s s p e c i f i e d b y t h e q u a t e r n i o n s
S.A.31. The r e s u l t i n g q u a t e r n i o n o f t h e t A b a n s i t i o nfronl
t h e b a s i s I t o t h e b a s i s E" w i l l b e e q u a l t o h 1 ~ ~ i . S . The
quantity:
-
A , . = ( ~ ~ ~ A ~ s ) ~ ~ I ~ ~ ~ ~ ~ ~ s ()2 .-5 9=) S ~ ; ~ ~ ~ ~

w i l l b e t h e mapping o f t h e q u a t e r n i o n .I\ o n t o t h e b a s i s E".

By c o n s i d e r i n g , by a ~ a l c g y ,t h e q u a t e r n i o n M specifying
t h e t r a n s i t i o n from t h e b z . s i s El t o t h e b a s i s E", we f i n d t h e
m a g n i ~ u d e eo f t h e mappings M o n t o t h e b a s e s E,EV and E n :

5lE=So1(1os, 31p = S o X o ~ l o h o ~ ,
-
h l E . = ( S o ~ o ~ ) -o ~ o ( h ~ o ~ o ~ ) =
= S o .\ o \I o .\ o S = ME, = M
'. 1 (2.60)

The p r o j e c t i o n s of t h e r e s u l t i n g r o t a t i o n v e c t o r o n t o t h e
b a s e s E,E1and E" a r e d e t e r m i n e d by t h e mapping o f t h e q u a t e r n i o n
N onto these bases:

We n o t e t h a t t h e mapping of t h e q u a t e r n i o n M o n t o t h e b a s e s
E1 and E n , a s w e l l a s t h e mapping o f N o n t o t h e b a s e s E a n d E"
are e q u a l ana d e t e r m i n e t h e e i g e n q u a t e r n i o n s ( t h e Rodriguez-
Hamilton p a r a m e t e r s ) o f t h e s e t r a n s f o r m a t i o n s .
5
pi'
Theorem 2 . 3 . The components o f t h e r e s u l t i c g r o t a t i o n
q u a t e r n i o n (N) a?e d e t e r m i n e d by t h e components of t h e f i r s t ( A )
1

and s e c o n d (M) r o t a t i o n s b y t h e q u a t e r n i o ~m u l t i p l i c a t i o n r u i e
,2.56) and ( 2 . 5 7 ) . The m u l t i p l i c a t i o n r u l e i s p r e s e r v e d f o r
mappings o f t h e s e q u a t e r n i o n s o n t o a n a r b i t r a ~ yb a s i s .

68
*. .
t

P-"-----
 Proof: The f o r m u l a ( 2 . 5 6 ) i t s e l f i s a p a r t i c u l a r c s s e
of t h i s t h e c r e m , s i n c e t h e q u a t e r n t o n s N , A and M c o i n c i d e w i t h /7 1
t h e i r mappings o n t o t h e b a s i s I. We w i l l f i n d t h e mapping c f
t h e q u a t e r n i o n N o n t o t h e b a s i s E d e p e n d i n g on t h e mappings
o f t h e component q u a t e r n i o n s A and M o n t o t h i s same b a s i s . I n
a c c o r d a n c e w i t h t h e r e l a t i o n s ( 2 . 5 6 1 , ( 2 . 5 8 ) - ( 2 . b1) , w e h a v e :

One can o b t a i n by a n a l o g y e x p r e s s i o n s f o r t h e mappings o f N o n t o

t h e base; E' and E": -
N ~ , = S O ; ~ O N O A ~ S =

- ~ ~ O ~ O B ~ ~ ~ ~ S O S ~ A ~ S = M ~ ~ ~
~ ~ ~ ~ ~ l ? ~ h 7 r ~ ~ ~ M ~ ~ ~ s =
, ~ o ~ o ~ i ~ h i o ( h ~ o ~ o ~ o S o , ~ o f i ~ o ~ o ~ ~ o ~ o ~
- ME.o Ah.
Thus, t h i s theorem p e r m i t s one t o u s e t h e f o r m u l a ( 2 . 5 7 ) f o r
f i n d i n g t h e components o f t h e r e s u l t i n g r o t a t i o n q u a t e r n i o n
i n any b a s i s . The components o f t h e q u a t e r n i o n s o f t h e component
r o t a t i o n s s h o u l d b e e x p r e s s e d i n t h e same b a s i s .

The q u a t e r n i o n s N , A and M d e t e r m i n e t h e f i n i t e r o t a t i o n
v e c t o r s of t h e t r a n s f o r m a t i o n s u n d e r c o n s i d e r a t i o n . Each
q u a t e r n i o n can be w r i t t , e r i i n t h e t'arm:
 It f o l l o w s from theorem 2 . 3 t h a t t h e r u l e s f o r f i n d i n g
t h e p r o d u c t s of two t r a n s f o r m a t i o n s S = J l o . i a r e p r e s e r v e d f o r
any p r o j e c t i o n s of t h e v e c t o r p a r t s of q u a t e r n i o n s o n t o t h e same
b a ~ i s . The l a t t e r c a n be i n t e r p r e t e d a s t h e p o s s i b i l i t y of
u s i n g t h e u n i t v e c t o r s of t h e b a s e s E,E1 and En (which s h o u l d be
t h e c a s e , s i n c e t h e hypercomplex b a s i s i l , i 2 ,l3 can c o i n c i d e
w i t h any t h r e e - d i m e n s i o n a l b a s i s j a s b a s i s v e c t o r s of t h e hyper-
complex s p a c e H. On t h e o t h e r hand, s i n c e t h e o p e r a t i o n o f
m u l t i p l y i n g S=Mo.\ is invariant r e l a t i v e t o the transfcrmation
of t h e b a s i s , i t has a v e c t o r meaning.

We o b t a i n t h e v e c t o r formula f o r t h e summation o f t h e f ' i n i t e

r o t a t i o n s . By u s i n g t h e r e p r z s e n t a t i o n (1.9) f o r m u l t i p l y i n g
q u a t e r n i o n s and i n t r o d u c i n g , by analogy t o (2.51) and ( 2 . 5 2 ) ,
the f i n i t e rotation vectors:

we o b t a i n :
N=V~+V=!KO.~=(~~+~)O(~+X)=
=PO~+V~~+X~~O--~~'X+CIX~.

We s e p a r a t e t h e s c a l a r and v e c t c - p a r t s o f t h e o b t a i n e d e x p r e s s i o n :

Obviously : P L 1 v 1
A E l --.-=I --0 .g,, -I.=-
J.dJ0 Po A0 4 r q 2 9~'

By t a k i n g t h e r a t i ~of t h e s e e x p r e s s i o n s , w e o b t a i n t h e v e c t o r
f c r m u l a f o r t h e summation o f f i n i t e r o t a t i o n s :
 Let u s f u r t h e r c o n s i d e r t h r e e s u c c e s s i v e l y p e r f o r m e d o r t h o -
g o n a l t r a n s f o r m a t i o n s . I f t h e t r a n s i t i o n from t h e b a s i s S t o
t h e b a s i s E' i s d e t e r m i n e d by t h e q u a t e r n i o n A , from E' t o E" - b y
t h e q u a t e r n i o n M , and from E" t o EN' - by t h e q u a t e r n i o n P , t h e n
t h e quaternion of t h e r e s u l t a n t trh?sformation N converting 173
-
t h e b a s i s E i n t o t h e b a s i s E f t ' i s d e t e r m i n e d by t h e p r o d u c t ( c f .
paragraph 1 . 3 ) :

One c a n show by a n a l o g y t o t h e p r e c e d i n g t h a t t h e o p e r a t o r
m u l t i p l i c a t i o n f o r m u l a ( 2 . 6 4 ) i s v a l i d f o r t h e mappings N,P,M,A
f o r any g i v e n c o o r d i n a t e s y s t e m .

A s a n example, l e t u s p r o j e c t t h e e q u a l i t y ( 2 . 6 4 ) onto t h e
b a s i s E. O b v i o u s l y , we o b t a i n , by a n a l o g y t o ( 2 . 5 8 ) - (2.51):

I n e x a c t l y t h e same way, one c211 e x t e ~ dt h e m u l t i p l i c a t i o n

theorem 2 . 3 t o an a r b i t r a r y number of q u a t e r n i o n s s p e c i f y i n g a
number o; s u c c e s s i v e t r a n s i t i o n s .

The r u l e f o r f i n d i n g t h e r e s u l t i n g r o t a t i o n fro111t h e known

components h a s a d i s a d v a n t a g e i n t h a t i t i s necessa.ry t o p r o j e c t
t h e q u a t e r n i o n s o n t o t h e same c o o r d i n a t e s y s t e m . I n t h i s
c o n n e c t i o n , t h i s r u l e does n o t p e r m i t one t o r e l a t e t h e
3odriguez-Hamilton p a r a m e t e r s o f t h e r e s u l t i n g and t h e component
t r a n s f o r m a t i o n s . A c t u a l l y , by p r o j e c t i n g t h e e q u a l i t y (2.563
o n t o any o f t h e s y s t e m s E , E V and El', we w i l l o b t a i n c o r r e s : ~ n d i n g
mappings o f t h e q u a t e r n i o n s o f which o n l y a c e r t a i n two w i l l b ?
e i g e n q u a t e r n i o n s composed o f t h e Rcdriguez-damilt.on y a ~ e r ~ l e t e r s .
 The q u a t e r n i o n whose components a r e t h e Rodriquez-Hamilton
p a r a m e t e r s h a s a p e c u l i a r meaning. T h i s i s e x p l a i n e d by t h e f a c t
t h a t t h e k i n e m a t i c e q u & k i o n s whlch d e t e r m i n e t h e r e l a t i o n o f
t h e d e r i v a t i v e s o f t h e k i n e m a t i c parameters t o t h e magnitudes o f
t h e a n g u l a r v e l o c i t y a r e w r i t t e n f ~ t hr e p r o j e c t i o n s o f t h e
f i n i t e r o t a t i o n v e c t o r on t h e i n i t i a l ( f i x e d ) and ;i n a l (body)
c o o r d i n a t e s y s t e m s . I n c o n n e c t i o n w i t h t h i s , i t i s t h e s e parame-
t e r s which a r e u s e d f o r t h e a p o l i c a t i o n s .

The s t r u c t u r e d e v e l o p e d h e r e f o r p x w j e c t l n g a q u a t e r n i o n
o n t o v a r i o u s c o o r d i n a t e s y s t e m s p e r m i t s one t o p r o v e t h e f o l l o w -
i n g t h e o r e m which d e t e r m i n e s t h e r e l a t i o n o f t h e r e s u l t a n t -
/74
q u a t e r n i o n N* w i t h t h e components of A * and M*.

Theo:.zm 2 . 4 . Let A*,M* and N* b e e i g e n q u a t 5 r n l o n s o f t h e

f i r s t , s e c o n d and r e s u l t a n t r . o t a t i o n s , r e s p e c t i v e l y . Then, t h e
components o f t h e r e s u l t a r ~ tr o t a t i o n q u a t e r n i o n N* a r e d e t e r -
inined by t h e q u a t e r n i o n components o f t h e f i r s t A* and s e c o n d M*
r o t a t i o n s from t h e r u l e of q u a t e r n i o n m u l t i p l i c a t i o n ( 1 . 5 ) .
The f a c t o r s a r e t a k e n i n r e v e r s e f o r m u l a :

P r o o f : By e x p r e s s i n g t h e q u a t e r n i o n s N*, A * and M* u s i n g
t h e r e l a t i o n s ( 2 . 5 8 ) , ( 2 . 6 0 ) and ( 2 . 6 1 ) , we o b t a i n f o r m u l a ( 2 . 6 5 )
a t once : ~ ' = ~ ~ = S o ~ o s = S o n f o ~ o s ~

= ~ o h e ~ o ( S o I T o ~ o h o ~ ) = ~ ~ ~ ~ i ~ - h * ~ ~ ' .

By p e r f o r m i n g t h e q u a t e r n i o n m u l t i p i i c a t i o n ( 2 . 6 5 ) and e q u a t i n g
t h e c ~ m p o r ~ e n tosf t h e b a s i s v e c t o r s , we f i n d :
 By comparing t h e r e l a t i o n s ( 2 . 5 7 ) and ( 2 . 6 6 ) , one can
v e r i f y t h a t t h e s i g n s o f t h e l a s t two t e r m s o f t h e v e c t o r p a r t o f
t h e q u a t e r n i o n have changed. We a l s o n o t e t h a t t h e f o r m u l a e ,
( 2 . 6 6 ) can b e o b t a i n e d from t h e r e l a t i o n s ( 2 . 5 7 ) , i f t h e y a r e
w r i t t e n i n t h e p r o j e c t i o n s , f o r example, on t h e b a s i s E l . It
i s t h e n n e c e s s a r y t o p r o j e c t t h e compo1:ents o f t h e v e c t o r N o n t o
t h e b a s i s E o r El1 u s i n g a d i r e c t t o n c o s i n e m 3 t r i x o f t h e t y p e
(2.35)

Theorem 2.4 remains v a l i d a l s o f o r t h e c a s e o f t h r e e

s u c , c e s s i v e l y performed 1 - r a : ~ s f o r m a t i o n sd e f i n e d r e s p e c t i v e l y b y
t h e q u a t e r n i o n s A,M and P I n t h i s c a s e , by t a k i n g i n t o account
t h e r e l a t i o n s ( 2 . 5 8 1 and ( 2 . 6 0 ) and a l s o t h e f ? c t t h a t t h e
r e s u l t a n t q u a t e r n i o n N i s d e t e r m i n e d b: t h e r e l a t i o n ( 2 . 6 4 ) , we
find:
No= N E = NE't, A' = AE = AE,, hI' = hip' = hfF.

and f u r t h e r : ..
N'--SoPoMoAoS-
( 8 ~ ~ ~ -
~ ) ~ ( ~ ~ ~ i ~ n l ~ ~ ~ ~
=A'oM=oP.
S i n c e any two r o t a t i o n s wr:;ten i n t h e form ( 2 . 6 5 ) can be
combined i n t o one, t h e n t h e s u c c e s s i v e a p p l i c a t i o n o f t h i s
m u l t i p l i c a t i o n f o r m u l a p e r m i t s one t o o b t a i n a t once t h e m u l t i -
p l i c a t i o n f o r m u l a f o r t h r e e r o t a t i o n s , which was j u s t now proven.
Obviaus'y, one can e x t e n d t h i s theorem t o t h e c a s e of a n
a r b i t r a r y number o f s u c c e s s i v e l y p e r f c r m e d t r a n s f o r m a t i o n s by
t h e nethod of induction.

T h i s s t u d y shows t h a t t h e e i g e n q u a t t ~ n i o n sof t h e t r a n s f o r -
mations w i t h t h e i r a d d i t i o n a r e a l s o m u l t i p l i e d a c c o r d i n g t o
t h e q u a t e r n i o n m u l t i p l i c a t i o n r u l e s . I-iowever, t h i s form of
t r a n s f o r m a t i o n a a d i t i o n does n o t y e t have a v e c t o r meaning.
N e v e r t h e l e s s , i t i s t h i s a d d i t i o n form which i s v a l i d , a s w i l l
 be shown below, f o r t h e a d d i t i o n of r e l a t i v e motion. The
p r o p e r t y of q u a t e r n i o n s t o d e s c ~ i o ethree-dimensional s p a t i a l
motion i n a more coinplete manner i s r e f l e c t e d i n t h i s .

I n c o n c l u s i o n , we :?illc o n s i d e r t h e well-known theorem on

t h e commutivity o f f i n i t e r o t a t i o n s .

-
Theoren 2 . 5 . The r e s u l t a n t t r a n s f o r m a t i o n w i l l b e e x a c t l y
t h e same a r i f f i r s t l y tile second r o t a t i o n i s performed and
t h e n t h e f j r s t aboub an a x i s t r a n s f o r m e d by t h e p r e c e d i n g
r o t a tion.

The p r o o f o f t h i . s theorem i s o b t a i n e d a t once frvm t h e

q u a t e r n i o n m u l t i p l i c a t i o n formula. If t h e q u a t e r n i o n A d e f i n e s
t h e f i r s t r o t a t i o n , and t h e q u a t e r n i o n M - i s t:?t second, then
t h e r e s u l t a n t r o t a t i o n w i l l b e d e f i n e d by t h e q u a t e r n i o n :
N=Blo~=31.,\.fi'i 3f=AMoM,
where As d e n o t e s t h e q u a t e r n i o n h ~ ~ , \ , f i , which i s o b t a i n e d by / 76
t r a n s f o r m i n g t h e q u a t e r n i o n h o f t h e r o t a t i o n o p e r a t i o n d e f i n e d by
t h e q u a t e r n i o n M.

3ne can see, i n a d d i t i o n t o t h i s , t h a t :

N=~~.A=A.%~~~.A=A.M~,

where nf, i s t h e q u a t e r n i o n whose v e c t o r p a r t i s t r a n s f o r n c d by

A
t h e i n v e r s e t r a n s f o r n a t i o n ,i..Hence, it f o l l o w s t h a t ? o t a t i o n s
s can be permuted t h u s l y . F i r s t , t h e second r a t d t i o n i s made about
*.
h !.
$
zn a x i s t r a n s f o r m e d by t h e i n v e r s e f i r s t r o t a t i o n , and t h e n t h e
$ fir,t r o t a t i o n is performed about t h e i n i t i a l a x i s .
4
ig
B One can e x t e n d t h e theorem a b a u t t h e c o m u t i v i t y o f r o t a t i o n
t o t h e c a s e of t h r e e r o t a t i e n s . L e t t h e f i r s t r o t a t i o n be d e f i n e d

Q. .
by t h e q u a t e r n i o n A , t h e second -
by t h e q u a t e r n i o n M, t h e
8
t h i r d - by t h e q u a t e r n i c n P Then t h e r e , u l t a n t r o t a t i o n will
b e s p e c i f i e d by t h e q u a t e r n i o n :

where :

i . e . , t h e same r 2 s u l t a n t r o t a ~ j . s ni s o b t a i n e d i f , fir^^, t h e
t h i r d r o t a t i o n i s p e r f o r m e d , t h e n t h e s e c o n e a b o u t an ; x i s i s
t r a n s f o r m e d by t h e p r e c e d i n g r o t a t i o n , t n e n t h e f i r s t r o t a t i o n
a b o u t a n a x i s t r a n s f o r m e d by t h e precedin: two.

It i s n o t d i f f i c u l t t o f o r m a l l y e x t e n d t h i s t h e o r e m t: t h e
c a s e of a n e r b i t . d - y n u r 3 e r o f s u c c e s s i v e i y p e r f o r m e d t r a n s f o r m a -
tions.

5 2.7. RELATION CF THE 3ODRIGUEZ-HAMILTON P.:<t<.X3TERS WITH -

OTHER KINEMATIC PARAMETERS

The e i g e n q u a t e r n i o n o f t h e ~ r a n s f o r m a t i o nh a s c o n ~ p o n e n t s
which are t h e Rodriguez-Yamilton p a r a m e t e r s . The r f l a f i o ~b e t w e e n
t h e components of t h e q u a t e r n i o n s p e c i f y i n g t h e r o t a t i o n t r a n s -
f o r m a t i o n and t h e d i r e c t i o n c o s i n e s , which a r e e l e m e n t s o f an
o r t h o g m a l t r a n s f o r m a t i o n m a t r i x , were i n v e s t i g a t e d i n d e t e i l i n
t h e s e c o n d p a r a g r a p h of t h i s c h a p t e r .

The c o r r e s p o n d e n c e c f t h e o r t h o g o n a l t r a n ~ f o r m a t l o ni n t h e 177
form ( 2 . 1 8 ) , ( 2 . 1 9 ) , ( 2 . 3 4 ) t o t h e r o t a t i o n t r a n s f ~ z - m a t i o n
( 2 . 3 3 ) , ( 2 . 3 5 ) was e s t a b l i s h e d . I n a c c o r d s n c e .~lt'!-, t h i s , tile
correspondence of t h e elements of t h e q u a t e m . < I ,:: t h e d i r e c t i o n
cos?.nes d e f i n i n g t h e basis t r a n s f o r m a t i o n i n t h e form ( 2 . 1 3 ) o r
( 2 . 4 0 ) and t h e v e c t o r compon?~ r s n s f o r m i t i o n ( 2 . 1 5 ) o? ( ? . I T . :
was e s t a b l i z h e d . The e l e m e n t s of t h e t r a n s f o r m a t i o n m a t r i x B-A'
a r e e x p ~ e s s e di n terms o f q u a t e r n i o n components by t h e r e l a t i o n s
i2.34) - (2.37).

We w i l , e s t a b l i s h t h e r e l a t i o n o f t h e t r a n s f o r m a t i o n
quaternion with t h e o t h e r kinematic parameters.

I - Th-
- - -Angles
- -E-u-l e- r- -and Krxlov ---
A sPquence o f t h e e r o t a t i o n s about d i f f e r e n t noncoin.2iding
axes s p e c i f i e s , as a whole, an a r b i t r a r y t r a n s f o r m a t i o n . Such
a t r a n s f c r m a t i o n 1 s c a l l e d r o t a t i o n by t h e E u l e r a n g l e s . With
t h e r o t a t l o n a b c u t t h e c o o r d i n a t e a x i s , two sequences o f r o t a t i c r l s
a r e QLF -1isked: r o t a t i o n by t h e E u l e r a n g l e s and r o t a t i o n
by t h e ?.t.ylov aqgles.

We w i l l c o n s i d e r f i r s t t h e E u l e r sequence o f t h r e e p l a n e
r o t a t i o n s c a r r y i n g t h e b a s i s I i n t o t h e b a s i s E, accomplished
about t h e c o o r d i n a t e a x i s ( F i g u r e 2 . 1 ) . L e t t h e f.i .+, r o t a t f o n
o c c u r about t h e a x i s i by t h e p r e c e s s i o n a n g l e 3 . ~ n second e
3
r o t z t i o n - 3bout t h e a x i s il by t h e n u t a t i c n a n g l e $, and t h e
t h i r d r o t a t i o n - about t h e a x i s A by t h e r o t a t i o n a n g l e 8 . The
t r ~ n s f o r m a t i o nm a t r i x A s p e c i f y i n g t h e t r a n s i t i o n from t h e
c o o r d i n a t e system I t o t h e s y s t e n E i n t h e form (2.13) i s o b t a i n e d
i n t h e form o f t h e p r o d u c t o f t h e t h r e e m a t r i c e s o f t h e s u c c z s s i v e
r o t a ti o n s :
1
Ix
c o s t i n t 0110 s i n * cos*
A=w--sine c o s e o I O
I
1 :I.
o o I o eos* sin*
O
cosq sin9 0
s i co;q
 F i g u r e 2.1.

Performing t h e m u l t i p l i c a t i o n , w e o b t a i n :

I n a n a n a l o g o u s manner, one c a n f i n d t h e q u a t e r n i o n o f
t h e r e s u l t a n t t r a n s f o r m a t i o n from t h e q u a t e r n i o n s cf e a c h
p l a n e r o t a t i o n . I n accordance w i t h t h e fundamental theorem
1.1, t h e q u a t e r n i o n ~f a p l a n e r o t a t i o n by t h e a n g l e 9 e q u a l s
d 6
c ~ s ~ f f s i, n where
~ 5 is the unit vector of the rotation axis.
Tc f i n d t h e r e s u l t a n t q u a t e r n i o n , oc? would have t o r e p r e s e n t
e a c h o f t h e component q u a t e r n i o n s i n one b a s i s , iv a c c o r d a n c e w i t h
t h e o r e m 2.3. However, two r o t a t i o n v e c t o r s as a minimum would
t h e n h a v e t a k e n p l a c e a b o u t t h e c o o r d i n a t e a x e s and t h e i r
e x p r e s s i o n s would b e r a t h e r c o m p l i c a t e d . I t i s more c o n v e n i e n t
t o u s e t h ? r e s u l t s o f theorem 2 . 4 .

Let A b e t h e q u a t e r n i o n o f t h e f i r s t r o t a t i ~ nperformed
z b o u t t h e a x i s i by t h e a n g l e 9. Then o b v i o u s l y :
3
Q
A'=cosT+i3sinT. Q

The s e c o n d r o t a t l o n i s performed a b o u t t h e a x i s 1; by t h e a n g l e
+; t h e e i g e n q u a t e r n i o n M* o f t h i s r o t a t i o n e q u a l s :
~ * = c o o ~ + i , s icPn ~ .

The t h i r d r o t a t i o n i s p e r f c r m e d a b o u t t h e a x i s e by t h e a n g l e
3
77
19 The q u a t e r n i o n o f t h i s r o t a t i o n :

According t o theorem 2.4, t h e r e s u l t a n t e i g e n q u a t e r n i o n

N* w i l l be e q u a l t o t h e p r o d u c t :
A*cM'oP'=
=(COs; + issin.%) 0 (cos f +i, sinT)9
e
(cos T+i3sin$)=0

=cos 9 cos '2

2i, sin -p +
9 cos o
- -0
2
+ (2.68)
O
+,sinT sinTe - Q +
i,cm f sin-o+e 2 -
::ence, :Zle f o l l n w i r ? ~r e l a t i o n o f t h e q u a t e r n i o n components
with t h e S u l e r angles r e s u l t s :
rb COS cp+a
v, = cos - -
2 , v;= sin+cos.+.I

By u s i n g t h e s e e x p r e s s f o n s f o r t h e components of t h e
q u a t e r n i o n N*, one can o b t a i n w i t h t h e h e l p oP t h e r o t a t i o n
o p e r a t i o n s t h e formulae f o r t h e t r a n s i t i o r o f t h e b a s i s I t o t h e
b a s i s E [ f o r example, i n t h e f o r n ( 2 . 4 4 ) ] and t h e f o r m u l a e f o r
f i n d i n g t h e components o f a f i x e d v e c t o r [ l i k e ( 2 . 2 8 ) ] . One
can v e r i f y t h a t t h e e l e m e n t s of t h e t r a n s i t i o n matri.< o f t h e
form (2.35) w i t h t h e c o n s i d e r a t i o n o f (2.69) c o i n c i d e w i t h t h e
matrix o b t a i n e d above ( 2 . 6 7 ) .

We w i l l now c o n s i d e r t h e sequence o f t h r e e r o t a t i o n s by t h e
Krylov a n g l e s ( F i g u r e 2.2) a l s o performed about t h e c o o r d i n a t e
a x e s o f t h e tpansformed b a s i s . The f i r s t r o t a t i o n i s performed
about t h e ajlia 1 by t h e c o u r s e a n g l e 9 . The second r o t a t i o n
3
i s produced about t h e a x i s i t 2by t h e bank a n g l e J I , and t h e t h i r d
abctlt t h e P X ~ S e..L by t h e p i t c h a n g l e a. The t r a n s f o r m a t i o n
m a t r i x A s ? e c i f y i n g t h z t r a n s i t i o n from t h e c ~ o r d i n a t esystem I
t o t h e system E i s o b t & i n e d by m u l t i p l y i n g t h e t h r e e m a t r i c e s
of t $lane rqtat i c n s :
0
By p e r f o r m i . ~ gt h e m a t r i x m u l t i p l i c a t i o n , w e o b t a i n :
cos 9 cos I) cosf rln. -rln*
s i n t s I n @ c o s ~ - r o 5 0 r l n v ~ I n O s I n ~ s i n ~ + c o s OsInOcorI)
cos O s t n * c o s t + s:n a sin*
m ~ ~
cqs d s i n @s l n ~ - s l n 8 c o r v c a r O c o r )
1. (2.70)

We f u r t h e r o b t a i n t h e r c t a t i o n t r a n s f o r m a t i o n q u a t e r n i o n accom-
p l i s h i n g t h e t r a n s i t i o n from t h e b a s i s I t o t h e b a s i s E.
By a n s l o g y t o t h e p r e c e d i n g c a s e , w e f i r s t f i n d t h e e i g e n q u a t e r -
nf-ons o f t h e s u c c e s s i v e p l a n e r o t a t i o n s . The f i r s t r o t a t i o n p e r - /8q
formed a b o u t t h e a x i s i by t h e a n g l e P c o r r e s p o n d s t o t h e
3
quaternion :

The s e c o n d r o t a t i o n a b o u t t h e a x i s i t 2by t h e a n g l e $ c o r r e s p o n d s
t o thc quaternion:
9
W=cos1+i2sin i *,
and t h e t h i r d r o t a t i o n ( a b o u t t h e a x i s el by t h e s n g l e 3 )
corresponds t o t h e quaternion:

I n a c c o r d a n c e w i t h theorem 2.4, we have t h e r e s u l t a n t

r o t a t i o n quaternion:
N.=~Y;~~QP=

By p e r f o r m i n g t h e q u a t e r n i o n m u l t i p l i c a t i o n , w e o b t a i n
t h e f o l l o w i n g v a l u e s f o r i t s components as a f u n c t i o n o f t h e
Krylov a n g l e s :
v ~ = c o s9l c o s ~9 c o s ~e+ s i n T9s i n T9s i n -8 I
2'1

T cos -
v; = sinT 9 cos -
"
2 2
- sill -92 cos @
sill -F .
 The v a l u e s o b t a i n e d f o r t h e q u a t e r n l o n permit one t o w r i t e
t h e o r t h o g o n a l t r a n s f o r m a t i o n o p e r a t i o n i n t h e form o f t h e r o -
t a t i o n o p e r a t i o n [ f o r example, i n t h e form ( 2 . 4 4 ) , (2.48) 1. The
r e a d e r car: v e r i f y t h a t t h e elements o f :he r o t a t i o n per at ion
m a t r i x o f t h e form (2.35) c o i n c i d e w i t h t h e elements o f t h e
T
matrix A (2.70).
/81 3
*
With t h e r o t a t i o n axes and r o t a t i o n a n g l e s g i v e n , t h e ::
sequence of t h r e e E u l e r r o t a t i a n s , completely d e f i n e s t h e $
t r a n s f o r m a t i o n . On t h e o t h e r hand, i f t h e r e q u i r e d t r a n s f o r m a t i o n
and t h e r c t a t i o n axes and t h e i r sequence are s p e c i f i e d , t h e n t h e
E u l e r r o t a t i o n a n g l e s a r e uniquely d e f i n e d by t h e s a . A c t u a l l y , 4
i
t h e t r a n s f o r n a t i o r l i s d e f i n e d by t h e components Vi o f t h e t r a n s f o r - i:
$

n a t i o n quaterniol,. One can s e e t h a t t h e formulae (2.69) o r

(2.72) are u n i q u e l y r e s o l v e d r e l a t i v e t o t h e magnitudes of t h e
r o t a t i o n angles.
4
r
R o t a t i o n by t h e E u l e r a n g l e s i s a r o t a t i o n about t h e i
i
c o o r d i n a t e axes ( o f c o u r s e , s u c c e s s i v e l y t r a n s f o r m e d ) . Let u s p o s e 2
9
t h e question: can an a r b i t r a r i l y s p e c i f i e d t r a n s f o r m a t i o n be 4
performed by t h r e e r o t a t i o n s r e l a t i v e t o a r b i t r a r y axes and, i f L.
i t i s i m p o s s i b l e , what a r e t h e c o n d i t i o n s on t h e arrangement o f jc
t h e r o t a t i o n a x e s ? The a p p l i c a t i o n c f q u a t e r n i o n s p e r m i t s one
t o i i ~ v e s t i g a t et h i s quest2 on r a t h e r completely and t h o r o u g h l y .

Let us c o n s i d e r an a r b i t r a r y t r a n s f o r m a t i o n which i s d e f i n e d
t
...
a - by t h e g i v e n q u a t e r n i o n F. By r e p r e s e n t i n g t h e q u a t e r n i o n N
z'
f
r: by an a r c on t h e u n i t s p h e ~ eone can s e e ( c f . p a r a g r a p h 1.2) t h a t
*
?. t h i s a r c ~ c c u p i e sa f r e e p o s i t i o n on t h e g r e ~ tc i r c l e d e f i n e d
Ii
pr' by t h e v e c t o r p a r t v o f t A l e q u a t e r n i ~ nand i t s l e n g t h e q u a l s
1: h a l f t h e r o t a t i o n a n g l e o f t h e q u a t e r n i o n N. Let t h e s a n e
i t r a n s f o r m a t i o n be accomplished by r o t a t i o n s about s e v e r a l g i v e n
7&
'6 axes. Each a x i s o f r ~ t a t i o nd e f i n e s o r ,the s p h e r e a g r e a t c i r c l e
on which t h e a r c o f t h e c o r r e s p o n d i n g q u a t e r n i o n composing t h e
 F i g w e 2.2. F i g u r e 2.3.

r e s u l t a n t t r a n s f o r m a t i o n s h o u l d be p l a c e d .

Ne w i l l f i r s t c o n s i d e r t h e c a s e when two axes of r o t a t i o n s

composing a g i v e n t r a n s f o r m a t i o n a r e s p e c i f i e d . These a x e s
d z f i n e t h e c i r c l e s of A and M cn t h e s p h e r e !Figure 2 . 3 ) .
Obviously, t h e given q u a t e r n i o n N can be r e p r e s e n t e d by t h e a r c
&Win t h e form of t h e p r o d u c t of t h e two q u a t e r n i o n s r e p r e s e n t e d
by t h e a r c s sPg anc! A%?.

The a r c M' i s obta'ned from t h e " r e s o l v e d " a r c M ( i . e . , 8s) / 82

by nieans of i t s t r a n s f e r by t h e r o t a t i o n o p e r a t i o n . A c t u a l l y ,
we f i n d from t h e t r i a n g l e s and BPZl :

o r d e n o t i n g t h e a r c s 69)=== and 2a=9)9by t h e q u a t e r n i o n s

P and A r e s p e c t i v e l y , we have:
P=MoAl=AioM',
hence :
 I n accordance w i t h t h i s , we have t h e f o l l o w i n g e x p r e s s i o n
f o r t h e given q u a t e r n i o n N i n terms of t h e " r e s o l v e d " d i r e c t i o n s
of r o t a t i o n :
N~AOM'=A~~~OMOA~.

S i n c e t h e r o t a t i o n s A and A , a r e prcduced about one a x i s , t h e n t h e

t r a n s f o r m a t i o n A O & r e p r e s e n t s one r o t a t i o n about t h i s same a x i s ,
which we denote by A* a s a r e s u l t o f which:

Obviously, t h i s i s t h e E u l e r sequence o f rotations o f t h e

form ( 2 . 6 8 ) . We n o t e t h a t t h e a d d i t i o n o f t h e q u a t e r n i o n a r c s
can b e produzed a t t h e two p o i n t s o f i n t e r s e c t i o n o f t h e a r c N
w i t h t h e a r c s A and M.

One such a d d i t i o n i s shown i n F i g u r e 2.3 on t h e o p p o s i t e

s i d e of t h e s p h e r e , which a l s c r e d u c e s t c t h e r e l a t i o n ( 2 . 7 3 ) .
The a d d i t i o n b e g i n n i n g from t h e p o i n t o f i n t e r s e c t i c n of t h e
a r c s N andMis presented i n Figure 2.4. We have, i n accordance
with Figure 2.4:

from which :

which obviously corresponds t o t h e o t h e r sequence o f E u l e r

r o t a t i c IS.

One can s e e t h a t t h e requirement o f t h e " p e r p e n d i c u l a r i t y "

of t h e a r c s o f t h e c o m p ~ n e n tq u a t e r n i o n s ( i . e . , t h e " r e s o l v e d "
r o t a t i o n a x e s ) i s n o t n e c e s s a r y . Eowcver, i t f o l l o w s t > ~ tmh e
examination o f F i g u r e 2.5 t h a t , f o r t h e p r e s e n t e d arrangement
of t h e g r e a t c i r c l e s o f t h e component r o t a t i o n s A and M , n o t e v e r y
r o t a t i o n N can b e r e p r e s e n t e d by t h e i r p; oduct . Actually, t h e
-
183
r o t a t i o n t r a n s f o r m a t i o n around t h e a x i s h P a i l " c a r r y " t h e a r c M ,
not t o any p o i n t on t h e s p h e r e , but only t o t h e r e g i o n bounded
by t h e small c i r c l e s 4 P a n d 8 . We a l s o have an analogous condi-
t i o n f o r t h e o t h e r sequence ~f r o t a t i o n s , which d e f i n e s an
analogous r e g i o n bounded by t h e p l a n e s P'and I f ( s h o w n dashed
i n F i g u r e 2 . 5 ) . We n o t e t h a t t h e maximum l e n g t h of t h e a r c s
of t h e q u a t e r n i o n s N 1 and N" w i t h b o t h sequences can be
d i f f e r e n t . Consequently, one can, w i t h t h e h e l p o f t h e p r c d u c t
of t h e q u a t e r n i o n s M and A , r e p r e s e n t t h e a r c N 7 , which i s p u t
i ~ t ot h e r e g i o n bounded by t h e p l a n e s 9 and 8 o r Y a n d t' .
Hence, i t i s seen t h a t t h e a r b i t r a r y q u a t e r n i o n w i t h zn a n g l e
*.E[o. +]can b e e x p r e s s e d by t h e E u l e r sequence o f r o t a t i o n s only
when t h e axes o f t h e ccmponent r o t a t i o n s a r e p e r p e n d i c u l a r .
n
However, when b V < -r, it i s p o s s i b l e a l s o t o u s e n ~ n p e r p e n d i c u l a r
rotations .
We w i l l c o n s i d e r t h e r e p r e s e n t a t i o n of t h e q u a t e r n i o n N
w j t h t h e h e l p of t h e p r o d u c t of t h r e e d i f f e r e n t r o t a t i o n s . Let
t h e t h r e e d i r e c t i o n s 3f t h e r o t a t i o n s d e f i n e d by t h e g r e a t
c i r c l e s A , M and P on t h e s p h e r e ( F i g u r e 2 . 6 ) b e g i v e n . The
a r c s of t h e q u a t e r n i o n s composing t h e g i v e n q u a t e r t l i o n N w i l l 1

be a r r a n g e d on t h z c i r c l e s . The s r c of t h e q u a t e r n i o n N i s i
F
p l a c e d on t h e c o r r e s p o n d i n g g r e a t c i r c l e . If t h e sequence o f i

r o t a t i o n s [ f o r example, A , M , P , a s i n t h i s case] i s given,

then t b 1 . e t r y f o r a d d i n g t h e a r c s on t h e s p h e r e i s uniquely -
/84
spesiA: .- y t h i s . A c t u a l l y , we f i n d from t h e s p h e r i c a l t r i a n g l e
,

%'ad:
X-AnK,

and from t h e t r i a n g l e 9%'s, s;lch t h a t g&=S'g,, w e have :

K=MoP,
from which:
N==AoIoP,
 Figure 2.4. F i g u r e 2.5.

i . e . , t h e sequence of t h e f a c t w s c o r r e s p o n d i n g t o t h e r o t a t i o n s
by zhe Krylov a n g l e s (2.71) a r e o b t a i n e d . One can s e e t h a t t h e
p o s i t i o n o f t h e g r e a t c i r c l e of t h e q u a t e r n i o n K i s f i x e d by t h e
p o i n t W (by t h e end o f t h e a r c o f t h e q u a t e r n i o n N) and b y t h e
e q u a l i t y c o n d i t i o n of t h e a r c s 9)& and WI . E x a c t l y t h e same
t r i a n g l e i s on t h e o p p o s i t e s i d e of t h e s p h e r e . The o t h e r
geometry f o r adding t h e a r c s w i l l correspond t o t h e o t h e r sequence
of r o t a t i o n s .

It i s s e e n from F i g u r e 2.6 t h a t t h e requirement o f mutual

p e r p e n d i c u l i a r i t y of t h e component r o t a t i o n s i s n o t n e c e s s a r y .
Nevertheless, t h i s r e s o l u t i o n i s not possible f o r every p ~ s i t i o n
of t h e component a r c s . A n a l y s i s shows t h a t a s u f f i c i e n t c o n d i t i o n
f o r performing t h e r e s o l u t i o n i s t h e requiremen.; t h a t t h e a r c
I

:, of t h e q u a t e r n i o n K ( t h e a r c V9l) n o t be g r e a t e r t h a n t h e maximum
p o s s i b l e d i s t a n c e between t h e c c r r e s p o n d i n g p o i n t s of t h e a r c s
-
?

of t h e q u a t e r n i o n s M and P. Thus, f o r example, one can s e e t h a t

h
c f o r t h e c l o s e d c i r c l e s o f M and P t h e c a s e can t a k e p l a c e when
P
P.
t h e a r c B8 w i l l always be l e s s t h a n t h e a r c % i.e., ' tI
h e,reso-
p. l u t i o n cannut be f u l f i i l e d . Eve.:: If o ~ l ytwo o f t h e t h r e e
2%
*%
r o t a t i o r . axes are perpendicu:,.ar, t .?en t h e r e s o l u t i o n i s always
I;t p o s s i b l e . Then w i t h t h e continuous approach of one g r e a t
c i r c l e t o a n o t h e r , t h e sequence o f r o t a t i o n s approaches t h e
E u l e r sequence.

.
n .
84

--'- -- -
.. -- .--.---. .-. ,.-. -..*- .. . -.
 -11.- -The -- ----
- -Caylex-Klein -----
Parameters

The Cayley-Klein p a r a m e t e r s a r e complex combinations of

t h e components of a q u a t e r n i o n . They a r e i n t r o d u c e d i n t o t h e -
/85
k i n e m a t i c s of r i g i d body r o t a c i o n e i t h e r by mearis of t h e s t e r e o -
g r a p h i c p r o j e c t i o n of t h e s p h e r e o n t c t h e p l a n e and t h e s p e c t f i -
c a t i o n of a l i n e a r f r a c t i o n a l t r a n s f o r m a t i o , ~~f t h e p l a n e o n t o
i t s e l f 131,443 o r , w i t h t h e h e l p of t h e isomarphic o p e r a t i o n of t h e
l i n e a r t r a n s f o r m a t i o n s p e c i f i e d by a u n i t a r y m a t r i x [161. It i s
more convenient t o u s e t h e second way t o e s t a b l i s h t h e r e l a t i o n of
a q u a t e r n i o n w i t h t h e Cayley-Klein p a r a m e t e r s . We w i l l b r i e f l y
d i s c u s s t h e e s s e n c e of t h i s method h e r e . A more complete discussion
w i l l b e found by t h e r e d d e r i n work [16].

Let t h e complex t w o - d i i n e ~ s i o n a l space uv b e give:: and

its l i n e a r transf o r r a tion :
u'= au + Po, v'= yu + 60,
determined b y t h e m a t r i x :

be specified. The m a t r i x which i s t h e complex c o n j u g a t e and

t r a n s p o s e d r e l a t i v e t o t h e m a t r i x U ( t h e complex c o n j u g a t e of a
q u a n t i t y w i l l b e denoted by an a s t e r i s k ) , i . e . :

L
r.
": i s c a l l e d t h e Hermitian c o n j u g a t e mair x o f t h e m a t r i x U. We
6
8 w i l l consider t r a n s f o r m a t i o n s f o r which t h e f o l l o w i n g c o n d i t i o n s
k
5:: are satisfied:

. 8V
(here 1 i s the unit matrix).
 M a t r i c e s s a t i s f y i n g t h e f i r s t c o n d i t i o n o f (2.76) a r e c a l l e d
u n i t a r y m a t r i c e s . The c o n d i t i o n s ( 2 . 7 6 ) l e a d t o t h e f o l l o w i n g
r e l a t i o n s which must be s a t i s f i e d by t h e e l e m e n t s a,B,b and y .

+ $'@= 1,

I
a'a
v * +~ a'a = 1,
a'y + @*a = 0,
ab-by= 1.

Here t h e f i r s t t h r z e e q u a l i t i e s a r e t h e u n i t a r i t y c o n d i t i o n s of / 86
t h e m a t r i x U , and t h e l a s t c o r r e s p o n d s t o t h e r e q u i r e m e n t o f a
u n i t d e t e r m i n a n t o f t h e m a t r i x . From t h e t h i r d e q u a l i t y o f ( 2 . 7 7 )
we o b t a i n t h e r e l a t i o n :

which w i t h s u b s t i t u t i o n i n t o t h e f o u r t h l e a d s t o t h e e x p r e s s i o n :

- (aa*+ f@*) = 1.

With c o n s i d e r a t i o n of t h e f i r s t e q u a l i t y o f ( 2 . 7 7 ) , we o b t a i n
t h e fol.lowing c o n d i t i o n s on t h e e l e m e n t s o f t h e m a t r i x U , t o
which t h e c o n d i t i o n s (2.7G) and ( 2 . 7 7 ) a r e r e d u c e d

The f o u r e l e m e n t s a , $ , y and 6 s a t i s f y i n g t h e c o n d i t i o n ( 2 . 7 8 ) a r e
c a l l e d t h e Cayley-Klein p a r a m e t e r s . The l i n e a r t r a n s f o r m a t i o n
p
2 u ~ a t r i x( 2 . 7 5 ) c o n t a i n s e i g h t q u a n t i t i e s i n a l l , s i n c e e a c h o f
i t s e l e m e n t s i s complex.
P
2
&

a a
h3

g
The e q u a l i t i e s ( 2 . 7 7 ) c o n t a i n t h e f o l l o w i n g c o n d i t i o n s : the
f i r s t two e q ~ ~ a l i t i ea sr e r e a l ; t h e t h i r d i s corr,plex. Thus, t h e
P1:
p r e q u l r3ment t h a t t h e t r a r i s f o r m a t i o l ~m a t r i x b e u n i t a r y c o n t a i n s
f o u r c o n d i t i o n s . The f i f t h c o n d i t i o n i s t h e rsql rement on t h e
1-
$
-.
d e t e r m i n a n t of t h e m a t r i x U. Thus, t h e m a t r i ) U s a t - s f y i n g t h e
c o n d i t i o n s ( 2 . 7 6 ) and ( 2 . 7 7 ) c o n t a i n s o n l y t h r e e i n d e p e n d e n t
Y.- . i-

7
!. 86
p a r a m e t e r s , i . e . , j u s t t h e number which i s n e c e s s a r y f o r d e s c r i b -
i n g t h e o r i e n t a t i o n of a r i g i d body i n t h r e e - d i m e n s i o n a l s p a c e .

L e t u s c o n s i d e r a m a t r i x o p e r a t i o ; I n two-dimensional complex
space:

whose r e a l componer,ts '2' r3 w i l l be i n t e r p r e t e d as t h e

coordinates of t h e v e c t o r r i n three-dimensional space. L e t t h e
m a t r i x fi b e s u b j e c t e d t o t h e f o l l o w i n g t r a n s f o r m a t i o n by means / 87
of t h e u n i t a r y m a t r i x U:

The x i a t i o n ( 2 . 8 0 ) d e s c r i b e s a s i m i l a r t r a n s f o r m a t i o n o f
t h e m?.trix R which o c c u r s when t h e s p a c e uv e x p e r i e n c e s t h e
u n i t a r y t r a n s f o r m a t i o n (we n o t e t h a t U-I = ,'u which f o l l o w s from
( 2 . 7 6 ) . S i n c e t h ? m a t r i x R i s H e r m i t i a n ( i . e . , t h e H e r m i t i a n con-
j u g a t e of t h e m a t r i x b e f o r e t h e m a t r i x i t s e l f R+ = R) and i t s
t r a c e e q u a l s z e r o , t h e n t h e m a t r i x R'rnust a l s o be Hermitian and
have a t - a c e e q u a l i n g z e r o ( t h e l a t t e r f o l l c w s from t h e f a c t t h a t
a s i m i l a r t r a n s l ^ o r m a t i o n does n o t change e i t h e r o f t h e s e m a t r i x
p r o p e r t i e s ) . Hence, i t f o l l o w s t h a t t h e m a t r i x R t must have t h e
form:

where r t l , r t2 and r t 3 a r e r e a l n ~ : ~ . : b e r s .S i n c e t h e dete,minan*.

of t h e m a t r i x a l s o does n o t change w i t k . a s i m i l a r transform^' i o n ,
then:
det R = - (r: + r i + r:)=det R'= - [ ( r y + (r;)2+ (r?].

The r e l a t i o n ( 2 . 8 1 ) i s t h e t r a n s f o r m a t i o n o r t h o g o n a l i t y
c o n d i t i o n . I n accordance w i t h t h i s , one can c o n s i d e r t h e opera-
t i o n (2.80) as an operation transforming t h e vector r i n t o t h e
new v e c t o r r l . By p e r f o r m i n g m a t r i x m u l t i p l i c a t i o n i n r e 1 . i o n
( 2 . 8 0 ) , we o b t a i n t h e f o l l o w i n g r e l a t i o n between t h e components
r t i and t h e components :, ( i = I , 2, 3 ) :

I f t h e r e l a t i o n between t h e components r T i and r i i s -

/88
r e p r e s e n t e d i n t h e form of r e l a t i o n ( 2 . 1 8 ) , t h e n t h e transforma-
t i o n m a t r i x , i n accordance w i t h t h e o b t a i n e d e q u a l i t y , w i l l e q u a l :
A'Z8.p
1
--
2
i
(a2- y2 + b2- $2) I

1
(y2 - a2+ b2 - $2) y& -4 I (2.82)
g(a2$y9-~-62) T(a2+y2-)-$2+61) -i(ab-y6)
ga-a~ itay +MI &+BY f
One can show t h a t t h e orthogonz,l t r a n s f o r m a t l u l l (2.81) i s
isomorphic t o t h e o p e r a t i o n ( 2 . 8 0 ) and can develop t h e
formulism f o r a l l t h e t r a n s f o r m a t i o n s r e l a t e d t o r 2 g i d body
n o t i o n . H w e v e r , i t is more convenient t o n s t a b l i s h t h e
re! a t i o n between t h e Cayley-Klein parameter: and q u a t e r n i o n s
i n o r d e r t o use t h e r e s u l t s o b t a i n e d above. T h i s rc t t i o n i s
e ~ s i l yestablished w i t h t h e h e l p o f t h e P a u l i s p i n m a t r i c e s ,
which a r e t h e follow+-;ig t h r e e two-dimensional m a t r i c e s :

We n o t e t h a t a l l t h e s p i n m a t r i c e s a r e Hermitian ( i . e . , b f = ? , ) ,
.
u n i t a r y , and thk t r a c e of each e q u a l s zeI1o. Together w i t h t h e ,
t

u n i t matr:x: , .

,.

The s p i n m a t r i c e s form a system o f f o u r independent m a t r i c e s f :

of two-dimensional complex space. Any 2 X 2 m a t r i x i n two-
dimensional s > a c e can be r e p r e s e n t e d i n t h e form c f a l i n e a r com-
b i n a t i o n of these four matrices:
 If' t h e t r a c e of t h i s m a t r i x e q u a l s z e r o . ?n t h e l a s t t e r m
" -
/89 T

i n (2.811) v a n i s 5 e s . i n addit'nn, if t h e m a t r i x i s H e r m i t i h n
( i . e . , a , d a r e r e a l number? and b = c Q ) , t h e n t h e c 2 e f f i c i e n t s
of t h e s p i n m a t r i c e s i n t h e e x p a n s i o n ( 2 . 8 4 ) w i l l be r e a l
numbers. The P a u l i m a t r i c e s p e r m i t one t o r e p r e s e n t t h e
ope.;&cor R i n t h e f o l l o w i n g form:

Thanks t o t h i s , t h e m a t r i x o p e r , F;, wcich i s s e t i n

c o r r e s p o n d e n c e w i t h t h e v e c t o r r , !s r e p r ? s F l t e d i n t h e form o i
a ~ ~ e s o l u t i oof n t h e v e c t o r a l o ~ g" b a s i s v e c t o r s ' ' of three-dimen-
s i o n a l s p a c e . The P a u l i F V : ? m z t r i c e s emerg? a s s u c h ; a s i s
v e c t o r s . T h i s i t s e l f e s t a b l i s h e s t h e r e l a t i o n s o f two-dimensional
c o m p ~ e xs p a c e and t h r e e - d i m e n s i o n a l r e a l s p a c e .

'Let u s c o n s i d e ? how one can r e p r e s e n t t h e u n i t a r y m a t r i x

U w i t h t h e h e l p ~f s p i n m a t r i c e s .

We h a v e , .:n
U= - Y) A + TI (a - 6 ) 93 -t
(2.86)
+ $ (c
l

3) 1
One can s e e LC?. r e l a t i o i l s ( 2 . 7 8 1 1 t h a t ;he d o c ? f f l c f e n t s
of Pr a18e i m a g i n a r y numbers and t h e c ~ 3 f f i c i e n to f t h e u n i t m a t r i x
i s -i, r e a l number. Irence, i t f o l l o w s t l l ? . ~ t h e H e r m i t i a n cbngvgate
c" t h e m a t r i x U e q u a l s :

i.e., t h e s i g n o f t h e c o e l ' f i s i e n t s o f t h e s ? i n a a t r i c . 2 ~i c
changed.
 W e will now show t h a t s a c h s p i n m a t r i x d e f i n e s a u n i t
r o t a t i o n o p e r a t o r about i t s own a x i s . A c t u a l l y , t h e transforma-
t i o n o p e r a t i o n s (2.80) f o r t h e m a t r i x U e q u a l i n g , f o r example:

(which occurs when a -6 and B=y ) l e a v e s t h e v e c t o r having t h e

same d i r e c t i o n f i x e d , i. e. ,: -
/90

R =r,P, = R' =rip,.

By s u b s t i t u t i n g t h e s e q u a n t i t i e s 5 n t o r e l a t i o n ( 2 . 8 0 ) ~w e o b t a i n :

,
( i t i s n e c e s s a r y t o t a k e t h e f a c t i n t o account t h a t PI^ =lh=PI and

One can show t h a t i f Yi.are t h e d i r e c t i o n c o s i n z s of t h e

unit v e c t o r , t h e n t h e u n i t a r y m a t r i x :

d e f i n e s t h e t r a n s f o r m a t i o n (2.80) l e a v i n g f i x e d t h e v e c t o r -
YIPI+YA+Y~R,which w i l l a l s o b e t h e r o t a t i o n a x i s ( t h e r o t a t i o n
a n g l e e q u a l s 3 ) . The r e p r e s e n t a t i o n o f t h e u n i t a r y m a t r i x (2.86)
and t h e t r a n s f o r m a t i o n (2.80) become e q u i v a l e n t a c c o r d i n g t o
r e p r e s e n t a t i o n of t h e q u a t e r n i o n (1.11) and r o t a t i o n o p e r a t i o n
(1.14). I f one t a k e s t h e f a c t i n t o account t h a t t h e s p i n m a t r i c e s
p e r m i t t i n g t h e ?'vector1? r e p r e s e n t a t i o n o f t h e o p e r a t o r s R and U
s a t i s f y t h e r u l e s f o r m u l t i p l y i n g t h e hypercomplex u n i t s :
P:=Pf=If=l,
&P~==-%=~PIS. P I ~ P ~ P I = P I D (2.88)
P1?1=-PlPs=lh hl=lP2=P2.
P I P I = - P ~ P I = ~ P~~l - - l h - h .
Thus, t h e s p i n m a t r i c e s permit one t o e s t a b l i s h t h e correspondence
between q u a t e r n i c n s and u n i t a r y m a t r i c e s . We n o t e , however, t h a t
t h e s p i n m a t r i c e s r e p r e s e n t )mewhat d i f f e r e n t l y t h e v e c t c r
m a t r i x ( w i t h r e a l c o e f f i c i e n t s ) (2.85) and t h e t r a n s f o r m a t i o n
c p e r a t o r m a t r i x U (2.86) ( t h e c o e f f i c i e n t s a r e imaginary f o r
t h e v e c t o r p a r t ) . Because o f t h i s , t h e formulae f o r m u l t i p l y i n g
t h e s p i n m a t r i c e s (2.88) a r e n o t o b t a i n e d s o symmetrically.
N e v e r t h e l e s s , t h e e q u i v a l e n c e o f t h e t r a n s f o r m a t i o n m a t r i x (2.87)
t o t h e q u a t e r n i o n shows t h a t t h e f o l l o w i n g r e l a t i o n s a r e s s t i s f i e d :

where ?i (i = 0, 1, 2. 3) can, i n p a r t i c u l a r , be t h e Rodriguez-Hamilton

parameters.
<

With c o n s i d e r a t i o n o f t h e s e r e l a t i o n s f o l l o w i n g from t h e
e q u a l i t y (2.56) one can r e l a t e t h e Cayley-Klein parameters w i t h
t h e components a f a q u a t e r n i o n :
a=X,+iSD
-
$=&+a,, y=u,-h.
By r e p l a c i ~ gt h e u n l t a r y m a t r i x i n e x p r e s s i o n (2.86) by t h e
components & , one can reduce t h e t r a n s f o r m a t i o n (2.80) t o t h e
t r a n s f o r m a t i o n (2.33). A l l o f t h e r e c u l t s o b t a i n e d i n paragraphs
2.2 - 2.6 a r e a p p l i c a b l e .

We w i l l n o t e o n l y t h a t t h e o p e r a t i o n (2.80) i s isomorphic t o
t h e o r t h o g o n a l t r z n s f a r m a t i o n i n t h e form (2.18).

I n conclusion, by u s i n g t h e r e l a t i o n s (2.83) and t h e e q u a l i -

t i e s (2.69) and (2.72) o b t a i n e d p r e v i o u s l y , we w i l l r e l a t e t h e
Cayley-Klein parameters w i t h t h e E u l e r and Krylov a n g l e s .
 By sutstituting the quantities vt from (2.69) in place of
b ( i = 0. 1,2.3), we obtain for the Euler angles :

By usins the relations (2.72), we find the dependence of the

Cayley-Klein parameters on the Krylov angles:

.=c2
-
k
* e
(cosTcos-- 2
--n 9 6 $ 0
(=a 2 (coo-cosT+fsinjsioT).
2

t $=c
--@ e * 9 *
( e o s T ~ i n T + ~ c o s f sinT).
r,
y=-e2 (cos Tsin- 9 -icosTsinT
2 " 1..

92
I
.& LA- - -- - - -- -
 CHAPTER 3

KINEMATIC EQUATIONS

The kinematic e q u a t i o n s r e l a t e t h e ar.gular v e l o c i t y v e c t o r /92

of t h e r i g i d body r o t a t i o n t o t h e t i m e d e r i v a t i v e s of t h e kine-
matic pzrameters. The form of t h e kinematic e q u a t i o n s i s d e t e r -
mined depending on t h e kinematic parameters. Thus, t h e e q u a t i o n s
a r e d i f f e r e n t f o r t h e E u l e r a n g l e s , t h e d i r e c t i o n c o s i n e s and t h e
Rodriguez-Hamilton parameters. It i s d e s i r a b l e t o have a s i n g l e
approach t o t h e s t u d y of t h e kinematic e q u a t i o n s and, consequently,
t o ob%aining them. I n d e r i v i n g t h e e q u a t i o n s we w i l l assume t h a t
t h e r e a d e r i s f a m i l i a r w i t h such p h y s i c a l q u a n t i t i e s a s t h e
a n g u l a r v e l o c i t y v e c t o r [9,16,29]. The d e r i v a t i o n o f t h e kine-
matic e q u a t i o n s c a r r i e d o u t i n t h i s c h a p t e r i s based on understand-
i n g t h e a n g u l a r v e l o c i t y a s t h e l i m i t o f t h e r a t i o o f an i n f i n i t e s i -
mal r o t a t i o n t o t h e element of t i m e . It i s shown t h a t t h e nota-
t i o n of t h e s e e q u a t i o n s w i t h t h e use of q u a t e r n i o n s i s g e n e r a l
and r e c u r s f o r a l l t h e kinematic parameters w i t h t h e correspond-
i n g f o r m a l i z a t i o n . The g e n e r a l form o f t h e kinematic e q u a t i o n s
is obtained.

The use of q u a t e r n i o n s p e r m i t s one t o r e p r e s e n t t h e kine-

matic e q u a t i o n s i n t h e most n a t u r a l form when similar parameters
c h a r a c t e r i z i n g t h e elementary r o t a t i o n ( a n g u l ~ vv e l o c i t y v e c t o r )
and t h e f i n i t e r o t a t i o n ( t h e q u a t e r n i o n compcnents) are r e l a t e d .
I n connection w i t h t h i s , t h e use o f q u a t e r n i o n s p e r m i t s one t o
prove a theorem about t h e g e n e r a l s o l u t i o n of t h e kinematic
e q u s t i o n , t o c o n s t r u c t t h e formal s o l u t i o n and t o i n v e s t i g a t e a
number o f simple c a s e s when one can s u c c e s s f u l l y o b t a i n a s o l u t i o n
i n elementary f u n c t i o n s . F r e s e n t e d i n v e s t i g a t i o n s are fcund
u s e f u l f o r approximation methods of s o l u t i o n s which a r e
considered i n t h e follow : n g c h a p t e r .

5 3.1. INFINITESIMAL TRANSFORMATION. ANGULAR VELOCITY VECTOR

/ 93 .

The r o t a t i o n t r a n s f o r m a t i o n q u a t e r n i o n , f o r example (2.41)

determines t h e f i n i t e r o t a t i o n v e c t o r c a r r y i n g t h e c o o r d i n a t e
system E i n t o t h e p o s i t i o n E l . We w i l l c o n s i d e r an i n f i n i t e s i m a l
t r a n s f o r m a t i o n f o r which t h e p o s i t i o n of t h e systems E and El
d i f f e r by a s m a l l q u a n t i t y . T h i s r e p r e s e n t a t i o n must correspond
t o a quaternion carrying out t h e r o t a t i o n by the lnflnitesimal
angle A d ; i n a c c o r d a w e w i t h t h e r e p r e s e n t a t i o n o f t h e q u a t e r n i o n
(1.11), one can s e e t h a t t h e approximate v a l u e o f t h i s q u a t e r n i o n
t o terms of second o r d e r i n A 3 e q u a l s :
AA=1+C7, AQ (3.1;
xhere AA i s t h e i n f i n i t e s i m a l t r a n s f o r m a t i o n q u a t e r n i o n , 5 i s
t h e i n s t a n t a n e o u s a x i s of r o t a t i o n , At? i s t h e r o t a t i o n a n g l e .

Now l e t t h e q u a t e r n i o n (3.1) s p e c l f y t h e r o t a t i o n t r a n s f o r -
matlon (2.331, t o which t h e v e c t o r r f i x e d i n t h e c o o r d i n a t e
system i s c a r r i e d i n t o t h e new p o s i t i o n r l .

By performing t h e m u l t i p l i c a t i o n o p e r a t i o n , one can s e e

that :

Neglecting second o r d e r t e r m s , we havz t h e f o l l o w i n g v e c t o r

increment :

The r e p r e s e n t a t i o n of q u a t e r n i o n m u l t i p l i c a t i o n was used i n

formula (3.2) w i t h t h e h e l p o f t h e v e c t o r m u l t i p l i c a t i o n ( 1 . 8 ) .
 By t a k i n g t h e r a t i o of b o t h s i d e s o f t h e e q u a l i t y (3.2) t o
A t and t a k i n g t h e l i m i t , we o b t a i n :

T h i s e q u a l i t y convinces us t h a t t h e q u a n t i t y :

e q u a l s t h e a n g u l a r v e l o c i t y v e c t o r tu o f t h e motion of t h e
c o o r d i n a t e system El r e l a t i v e t o E. I n accordance w i t h t h i s ,
t h e i n f i n e t i m a l transformat,ion q u a t e r n i o n (3.1) can a l s o b e
w r i t t e n i n t h e form:

The p r e s e n t e d r e s u l t p e r m i t t i n g one t o r e l a t e t h e a n g u l a r
v e l o c i t y v e c t o r t o t h e infinitesimal r o t a t i o n q u a t e r n i o n h a s
an i l l u s t r a t i v e n a t u r e . A c t u a l l y , w e have t h e r i g h t t o w r i t e
t h e r e l a t i o n ( 3 . 4 ) d i r e c t l y on t h e basis o f t h e d e f i n i t i o n o f
t h e a n g u l a r v e l o c i t y v e c t o r as t h e r a t i o o f t h e i n f i n i t e s i m a l
r o t a t i o n v e c t o r t o t h e element o f t i n e d t and on t h e b a s i s o f t h e
fundamental t h e o r e n 1.1 and t h e r e l a t i o n (2.51).

I n t h e case of t h e d i r e c t i o n cosines t h e angular veloc'ty

v e c t o r i s i n t r o d u c e d through t h e elements o f t h e i n f i n i t e s i m a l
t r a n s f o r m a t i o n m a t r i x . The isomorphic o p e r a t i o n o f v e c t o r
t r a n s f o r m a t i o n (2.18) s p e c i f i e s t h e t r a n s f o r m a t i o n o f t h e m a t r i x
B = A*, which can be r e p r e s e n t e d i n t h e form o f t h e sum of t h e
unit and some m a t r i x c o r r e s p o n d i n g t o t h e small t r a n s f o r m a t i o n :

Such a m a t r i x s p e c i f i e s t h e almost u n i t t r a n s f o r m a t i o n s which

d i f f e r from it by an i n f i n i t e s i m a l o p e r a t o r . W e have, i n
accordance w i t h (2.18) :
 Ar=r'-r=sr.
where E i s t h e i n f i n i t e s i m a l increment o p e r a t o r .

The i n v e r s e t r a n s f o r m a t i o n m a t r i x B-I must be e q u a l :

since i n t h i s case t h e r e l a t i o n :

BB-'=(I +)(I --<)=I

i s s a t i s f i e d t o terms of second o r d e r i n E . But f o r a n o r t h o -

gonal matrix, t h e inverse matrix coincides with t h e transposed.
Consequently ,

Thus, t h e i n f i n i t e s i m a l t r a n s f o r m a t i o n m a t r i x i s a a t i s y m m e t r i c ,
i . e . , i t h a s t h e form:

By c o n s i d e r i n g t h e r a t i o o f t h i s m a t r i x t o t h e element At and
d e n o t i n g t h e l i m i t o f t h i s r a t i o a s b t - 0 by Q and t h e q u a n t i t i e s
-
dQf by
dl
'oc , w e o b t a i n :
 A vector o , whose components a r e t h e q u a n t i t i e s ID a3

corresponds t o each antisymmetric m a t r i x i n three-dimensional

space. The r e l a t i o n of t h e m a t r i x elements with t h e v e c t o r
components i s e s t a b l i s h e d formally w i t h t h e h e l p of t h e Levi-
C i v i t a symbol bijk. T h i s symbol e q u a l s 0 i s any o f t h e i n d i c e s
i , j , k a r e t h e same and e q u a l + o r =1depending on t h e evel'ess
o r oddness 01t h e permutation of , , ) The r e l a t i o n e s t a b - I
l i s h i n g t h e l i n k between t h e m a t r i x lleijll w i t h t h e v e c t o r
components h a s t h e form:

The t h r e e q u a n t i t i e s 56i ( o r dei;) of t h e matrix E a r e t h r e e

independent parameters d e f i n i n g t h e r o t a t i o n . By s u b s t i t u t i n g -
/96
t h e value E i n t o (3.5), we o b t a i n f o r t h e v e c t o r increment:

dr, = r3de2- r z d h
dtp= rl de3 - rSdel.
-
drl =r2d e l rl dQ%

which can a l s o be w r i t t e n i n t h e form o f t h e v e c t o r e q u a l i t y :

Since t h e q u a n t i t y w i s d e f i n e d by t h e v e c t o r p a r t of t h e
r o t a t i o n t r a n s f o r m a t i o n q u a t e r n i o n , t h e n , i n accordance w i t h
theorem 2 . 2 , it i s a v e c t o r . Hence, i t f o l l o w s t h a t t h e
q u a n t i t i e s wi d e f i n e d by t h e components of t h e q u a t e r n i o n
dh ( 3 . 4 ) a r e p r o j e c t i o n s of t h e a n g u l a r v e l c c i t y v e c t o r w (as i s
t h e % u a t e r n i o n ) o n t o any c o o r d i n a t e system, i n c l u d i n g t h e b a s i s
E. Obviously, t h e p r o j e c t i o n s on t h e b a s e s E and E' a r e t h e
same !.n t h i s c a s e , s i n c e dA d e f i n e s t h e t r a n s i t i o n between t h e s e
bases.
97
 2:
X
?

1
We c o n s i d e r , i n c o n c l u s i o n , t h e sequence of two i n f i n i t e s i m a l 6
t r a ~ s f o r m a t i o n sd e f i n e d by t h e q u a t e r n i o n s ~ A and
I dA2. The
r e s u l t a n t transformation w i l l equal:

i . e . , t h e a d d i t i o n of t h e i n f i n i t e s i m a l r o t a t i o n s and t h e
corresponding a n g u l a r v e l o c i t i e s a r e c a r r i e d out t o second o r d e r .
We n o t e t h a t t h e o r d e r of m u l t i p l i c a t i o n p l a y s no r o l e h e r e ; t h i s
s a y s t h a t t h e p r o j e c t i o n s of t h e v e c t o r s a,+w, on neighboring
c o o r d i n a t e systems do n o t d i f f e r up t o second o r d e r .

It i s u s e f u l t o w r i t e t h e o b t a i n e d formula s e p a r a t e l y , / 97
- r

as a r u l e f o r multiplying t h e small r o t a t i o n quaternions.

According t o ( 3 . 4 ) , t h e s m a l l r o t a t i o n q u a t e r n i ~ n st o second
o r d e r L f t h e r o t a t i o n a n g l e 3 can be r e p r e s e n t e d i n t h e form:

where 0=&) i s t h e i n f i n i t e s i m a l r o t a t i o n v e c t o r . The formula

f o r m u l t i p l y i n g s m a l l t r a n s f o r m a t i o n q u a t e r n i o n s t o terms of
second o r d e r w i l l be:

Hence, i t i s s e e n t h a t i n f i n i t e s i m a l r o t a t i o n s add a s vecto-s.

-
3.2. DERIVATION OF THE KINEMATIC EQUATIONS

I n d e r i v i n g t h e k i n e m a t i c e q u a t i o n s one s h o u l d t a k e i n t o
account t h a t a p p l i c a t i o n i n p r a c t i c e was found f o r t h e e q u a t i o n s
i n which t h e p r o j e c t i o n s of t h e a n g u l a r v e l o c i t y v e c t o r w o f t h e
motion o f t h e moving c o o r d i n a t e systems r e l a t i v e t o a r e f e r e n c e
system appear e i t h e r i n t h i s r e f e r e n c e system o r i n t h e moving
c o o r d i n a t e system (and n o t on any b a s i s i n g e n e r a l ) .

T h i s e x p l a i n s why t h e p r o j e c t i o n s o f t h e q u a t e r n i o n o n t o t h e
i n i t i a l and f i n a l t r a n s f o r m e d b a s e s , i. e . , t h e Rodriguez-Hamilton
parameters a r e used i n t h e k i n e m a t i c e q u a t i o n s . We w i l l r e p r e -
s e n t two d e r i v a t i o n s of t h e k i n e m a t i c e q u a t i o n s .

I. We w i l l c o n s i d e r r e f e r e n c e c o o r d i n a t e sys+em I and t h e
c o o r d i n a t e system E moving w i t h r e s p e c t t o i t w i t h an a n g u l a r
v e l o c i t y w . Let t h e t r a n s i t i o n from t h e b a s i s I t o t h e b a s 5 s E
b e d e f i n e d by t h e q u a t e r n i o n A w i t h t h e h e l p o f a r o t a t i o n
o p e r a t i o n i n t h e form ( 2 . 4 4 ) , which we w r i t e i n t h e form:

Because o f t h e r e l a t i v e motion o f t h e b a s e s , t h e q u a t e r - /*
n i o n A w i l l be a v a r i a b l e q u a n t i t y . T h i s means t h a t t h e compo:lents
of t h e q u a t e r n i o n & (i =0, 1, 2, 3) w i l l b e f u n c t i o n s of t i n e hi(t)
and, a c c o r d i n g l y , w e w i l l a l s o denote t h e q u a t e r n i o n A as a t i m e
f u n c t i o n A(t) . I n o r d e r t o o b t a i n t h e magnitude o f t h e r a t e
of change o f t h e q u a t e r n i o n components, we c o n s i d e r two
n e i g h b o r i n g p o s i t i o n s o f t h e c o o r d i n a t e system E a t t h e t i m e s t
and t + d t . Obviously, t h e s e p o s i t i o n s w i l l be d e f i n e d r e l a -
t i v e t o t h e r e f e r e n c e b a s i s I by t h e q u a t e r n i o n s A(t) and A ( f - k d f ) ,
On t h e o t h e r hand, t h e r e l a t i v e p o s i t i o n o f t h e b a s i s E a t t h e
t i m e s t and t + d t , w i l l depend on t h e a n g u l a r v e l o c i t y o f t h e
motion of t h e b a s i s E and w i l l be s p e c i f i e d by t h e i n f i n i t e s i m a l
motion q u a t e r n i o n dA ( F i g u r e 3 . 1 ) . ,,<

I.

Hence, one can e a s i l y o b t a i n t h e r e l a t i o n between t h e

+
q u a t e r n i o n s A(t), A(t dl) 3i1d d A . However, we c o n s i d e r f i . , o f , -4

o n t o which c o o r d i n a t e s y s t e ~che o b t a i n e d e q u a l i t i e s s h o u l d Se
p r o j e c t e d , i . e . , which mappcngs o f t h e g i v e n q u a t e r n i o n s s h o u l d
be used. It i s t h e n nec2ssary t o proceed from t h e f a c t that, .;t
i s d e s i r a b l e t o e x p r e s s t h e q u a t e r n i o n dA i n t h e p r o j e c t i o n s e i t h e r
o n t o t h e a x e s o f t n e c o o r d i n a t e system E [ t h e n i t s components
w i l l be p r o j e c t i u n s o f t h e a n g u l a r v e l o c i t y o n t o t h e body
c o o r d i n a t e system] o r on t h e basis I i n which t h e components dh
w i l l be p r o j e c t i o n s o n t o t h e f i x e d c o o r d i n a t e system.

I n t h e f i r s t cake, we w i l l use theorem 2.4, a c c o r d i n g t o

which t!~e e i g e n q u a t e r n i o n s o f e a c h t r a n s f o r m a t i o n a r e m u l t i p l i e d
i n t h e f o l l o w i r ~ gmanner:
A* (t +dt)=A' (t) dA*.0

Here t h e q u a t e r n i o n s A*(t + d t )
and A* ( t ) have t h e Rodriguez-
Hamilton p a r a m e t e r s as components
of t h e t r a n s f o r m a t i o n s c a r r y i n g
t h e b a s i s I jnto t h e bases E ( t )
and E ( t + d t ) , r e s p e c t i v e l y . The
q u a t e r n i o n dh' h a s a s i t s com-
p o n e n t s e q c a l magnitudes o f t h e
F i g u r e 3.;. angular v e l o c i t y p r o j e c t i o n s onto
t h e body c o o r d i n a t e systems
E ( t ) and E ( t + d t ) . By u s i n g t h e q u a t e r n i o n r e p r e s e n t a t i o n dA ( 3 . 4 )
a n d ' d e n o t i n g t h e mapping q u a t e r n i o n of t h e v e c t o r w o n t o t h e /9 9 -
b a s i s E by oE, we o b t a i n f i n a l l y :

~ * ( t + d t ) = ~ * ( t -)k~T1(alE d t ! .
 Let us r e t u r n t o theorem 2 . 3 , a c c o r d i n g t o which t h e sum
of t h e r o t a t i o n s A ( 6 and dh comprising t h e r o t a t i o n ~ ( t + d t j can be
p r o j e c t e d o n t o t h e same b a s i s . Then, i n ~ r d e rt o o b t a i n t h e e i g e n -
q u a t e r n i o n s of t h e t r a n s f o r m a t i o n s ( t h e q u a t e r n i o n s composed of
t h e Rodriguez-Hamilton p a r a m e t e r s ) i n t h e r e s u l t i n g r e l a t i o n ,
one must use only t h e b a s i s I as t h e p r o j e c t i o n b a s i s . F o r t h e
b a s i s E ( t ) and E ( t + d t ! , e i t h e r t h e q u a t e r n i o n A ( t + d + ) o r t h e
q u a t e r n i o n A ( t ) w i l l n o t b e t h e e i g e n q u a t e r n i o n o f t h e transforma-
t i o n . According t o t h e ~ r e m2 . 3 , we have:

i . e . , t h e components o f t h e q u a t e r n i o n dAr w i l l be p r o j e c t i o n s
of t h e a n g u l a r v e l o c i t y v e c t o r o n t o t h e r e f e r e n c e ( f i x e d )
c o o r d i n a t e system. By u s i n g t h e r e p r e s e n t a t i o n ( 3 . 4 ) , we w r i t e
t h e o b t a i n e d t h e r e l a t i o n i n t h e form:

Tke r e l a t i o n s ( 3 . 9 ) and ( 3 . 1 0 ) a r e a l s o two Forms o f t h e

k i n e m a t i c e q u a t i o n . The e q u a t i o n s i n t h i s form have a meaning
f o r z l l n u m e r i c a l methods o f s o l u t i o n , s i n c e t h e v a l u e s o f
t h e q u a t e r n i o n i n a p r e c e d i n g moment of time a r e r e l a t e d t o i t s
v a l u e of t h e c u r r e n t i n s t a n t o f t i m e .

However, anot,her form forD d e s c r i b i n g t h e k i n e m a t i c e q u a t i o n

i s used more o f t e n . We c 9 n s i d e r t h e q u a n t i t y :

A*(t + d t ) - Aa(t) *
dt

which i s a formal d e r i v a t i v e of t h e q u a t e r n i o n as t h e f o u r
dimensional v e c t o r :
T h i s d e r i v a t i b * ? i s t a k e n , n a t u r a l l y , under t h e assumption -
/I 00
of t h e i n v a r i a n t of t h e b a s i s I , which i s a component of t h e
hypercomplex space H. One can s e e w i t h c o n s i d e r a t i o n o f t h i s
e q u a l i t y t h a t thr kinematic E q u a t i o n s ( 3 . 9 ) and ( 3 . 1 0 ) can be
w r i t t e n r e s p e c t i v e l y i n t h e form:

We n o t e t h a t t h e a u a t e r n i o n A* s p e c i f i e s t h e t r a n s i t i o n from
t h e b a s i s I t o t h e b a s i s E by t h e r o t a t i o n o p e r a t i o n ( 3 . 8 ) ; i n
accordance w i t h theorem 2.1, t h e t r a n s f o r m a t i o n o f t h e components
of an i n v a r i a n t a n g u l a r v e l o c i t y v e c t o r must be d e f i n e d by t h e
i n v e r s e r o t a t i o n o p e r a t i o n performed on t h e hypercomplex mappings,

Obviously, t h e 1 7 e l a t i o n (3.13)
u n i q u e l y s a t - s f i e s t h e Equations
(3.11) and ( 3 . 1 2 ) . The Equations
( 3 . 9 ) ar?d (3.10) correspond t o t h e
two p o s s i b l e a d d i t i o n s of qua-
Figure 3 . 2 .
t e r n i o n s on t h e s p h e r e ( t h e o r e ~ f
3 . 2 ) . According t o t h i s f i g u r e .

A' (t +~ t=) dAl 0 A' ( t )= A* ( t ) dA=,

0

and t h e r e l a t i o n sf t h e a r c s dBI and dAE a r e determined by t h e

transition oper~tion:

which i s an e x p r e s s i o n of t h e e q u a l i t y ( 3 . 1 3 ) .
 11. The kinematic e q u a t i o n s can be o b t a i n e d i n a n o t h e r way. a
.-
%

5
Let t h e t r a n s i t i o n from t h e r e f e r e n c e b a s i s I t o t h e b a s i s E +.'.I
be d e f i n e d by t h e q u a t e r n i o n A ( 3 . 8 ) . Then, f o r any b a s i s v e c t o r , -?
e
a s i n g e n e r a l f o r any v e c t o r f i x e d i n t h e basis E, t h e t r a n s - J

formation i s d e f i n e d by t h e same o p e r a t i o n :

By c o n s i d e r i n g t h e change o f r v i n t h e r e f e r e n c e b a s i s ,
i . e . , t h e motion o c c u r r i n g only t e c c u s e of t h e change o f A* ,
we o b t a i n t h e magnitude of t h e l o c a l d e r i v a t i v e of t h e r a d i u s -1101
. :
vector:
= - o r odAe
-dr' A*+AOor
- dP
0-=
dl dt 1

-
s i n c e r o j i ' = ~ * o r ' , and A e o r = r ' . C , and from t h e e q u a l i t y r O p =,l
it follows t h a t :

and t h e magnitude o f t h e q u a t e r n i c n d e r i v a t i v e i s understood

i n t h e sense of (3.11), i . e . , i t i s t h e l o c a l change of t h e
quaternion r e l a t i v e t o t h e r e f e r e n c e b a s i s . On t h e o t h e r hand,
t h e l o c a l d e r i v a t i v e of a v e c t o r f i x e d i n t h e b a s i s E i s d e f i n e d
by t h e r e l a t i o n ( 3 . 3 ) . I n o r d e r t o o b t a i n t h e r e l a t i o n of t h e
q u a n t i t y dAe t o t h e a n g u l a r v e l o c i t y v e c t o r r., i t i s n e c e s s a r y
t o r e p r e s e n t t h e v e c t o r e q u a l i t y ( 3 . 3 ) i n t h e form o f q u a t e r n i o n
products :

which follows from t h e r e p r e s e n t a t i o n ( 1 . 8 ) , where

i s a q u a t e r n i o n composed of t h e p r o j e c t i o n s c f t h e v e c t o r w o n t o t h e
axes of t h e r e f e r e n c e b a s i s , i . e . , a mapping o f o o n t o I.

By compzring t h e r e l a t i o n s (3.14) and (3.16), we o b t a i n a t

once :

from which t h e form of t h e kinematic Equation (3.12) f o l l o w s :

The (3.11) i s o b t a i n e d from (3.18) by t a k i n g i n t o account t h e
f a c t t h a t t h e mapping q u a t e r n i o n u, i s o b t a i n e d from @, by t h e / 102
o p e r a t i o n (3.13)

From t h e r e l a t i o n (3.111, i t follows t h a t

and t h e magnitude o f t h i s q u a t e r n i o n :

f s determined by t h e p r o j e c t i o n s of t h e v e c t o r a o n t o t h e body
c o o r d i n a t e system E.

By u s i n g the r e p r e s e n t a t i o n s (3.17) and (3.20), we w r i t e t h e

e q u a t i o n s d e f i n i n g t h e a n g u l a r v e l o c i t y v e c t o r components through
t h e Z e r i v a t i v e s of t h e t r a n s f o r m a t i o n q u a t e r n i o n (3.18) and (3.19)
i n t h e form f ~ sfc a l a r r e l a t i o n s ( h e r e and subsequently, we w i l l
omit t h e a s t e r i s k w i t h t h e q u a t e r n i o n components, u n d e r s t a n d i n g
t h a t only t h e Rodriguez-Hamilton parameters appear i n t h e kine-
matic e q u a t i o n s ) :
 The S q u a t i o n s (3.21) and (3.22) d e f i n e t h e magnitude o f t h e 1
angular v e l o c i t y , which i s a p h y s i c a l c h a r a c t e r i s t i c o f t h e
r-r motion and czn be measure&. One can snow t h a t t h e d e t e r m i n a n t s
$. of t h e c o e f f i c i e n t s of t h e v e l o c i t i e s ( i - e . , o f t h e d e r i v a t i v e s ii
r
q
t-
i q t h e systems (3.21) and (3.22) always e q u a l s 1. T h i s means,
3
G
P
f i r s t l y , t h a t t h e i n v e r s i o n of t h e s e systems i s always p o s s i b l e f
#i and, s e c o n d l y , t h a t t h e k i n e m a t i c e q u a t i o n s i n t h e form (3.11)
k
f (3.12) a r e n o t d e f e n e r a t e any v a l u e s o f t h e p a r a m e t e r s . T h i s
@2 p r o p e r t y i s very important f o r a p p l i c a t i o n s , i n p a r t i c u l a r f o r
s
%
numericzl s o l u t i o n of t h e e q u a t i o n s .

i'a- W e write Equations (3.11) aad (3.12) i n t h e f c m o f t h e

$
'-
. scalar relations: / 103
P

We n o t e once a g a i n t h a t t h e kinematic e q u a t i o n s d e s c r i b e
t h e motion of cne c o o r d i n a t e system r e l a t i v e t o a n o t h e r . Thus,
t h e reletive a n g u l a r v e l o c i t y v e c t o r a p p e a r s i n them-
 W e w i l l c o n s i d e r i r ? c o ~ c l u s i o nhow t h e r e l a t i v e motions a r e
added.

Let t h e q u a t e r n i o n A 0 s p e c i f y a t r a n s i t i o n from t h e c o o r d i n a t e
system I t c t h e system E, and t h e q u a t e r n i o n H* -
the transition
from t h e c c v r d i n a t e systrm E t o t h e system Et. L e t t h e a n g u l a r
v e l o c i t y of t h e c o o r d i n a t e system E r e h t i v e t o t h e s b s t e m T
e q u a l ul , and t h e a n g u l a r v e l o c i t y of t h e c ~ o r d i n a t esystem E t
r e l a t i v e t o t h e system 6 e q u a i ri. The kinematic e q u a t i o n s
describing t h e notion o f t h e coordinate systems, according t o
(3.11) and (3.12), have f c r m :

A n a l o g o ~ sr e l a t i o n s a l s o determine t h e r e l a t i v e motion o f t h e
%asisE' r e l a t i v e t o t h e b a s i s E:

where - and
of t h e v e c t o r q
a r e q u a t e r n i o n s composed o f t h e p r o j e c t i o n s
@ n t o t h e r e f e r e n c c ( E ) and body (E*)bases.
4
3
as f o l l o w s from
ke c o n s i d e r t h e r e s u l t i n g q u a t e r n i o n s N*; 3

- a3
'

theorem 2.4, f o r t h e e i g e n q u a t e r n i o n c o n s i s ~ i n go f t h e Rodriguez- / l o 4

Hamilton parameters, t h e r e l a t i o n : . .
- ,

i s vaxid. D i f f e r e n t i a t i n g t h i s e q u a l l t y , we o b t a i n :
m dA'
T ~ ~ e H * + A * o T e
a f f

We s u b s t i t u t e i n t o i t t h e v a l u e s o f t h e d e r i v a t i v e s of t h e
q u a t e r n i o n components i n accordance w i t h t h e first e q u a l i t i e s o f
(3.25) and (3.26):
ar 1
- ~ - ~ ~ ~ e A * o w
1
-,\*o+01([.-
+
dt 2 0
1 L.
= ~Z a , I o ~ * + T ~ * o ~ ~ ~ * o ~ ' .
 S i ~ c et h e p r o j e c t i o n s o f t h e v e c t o r ot on t h e b a s i s of E a r e
r e l a t e d t o i t s p r o j e c t i o n s on t h e b a s i s I are an o p e r a t i o n of
t h e form (3.13), t h e n t h e mapping o f t h e v e c t o r u, o n t o t h e
I
\
b a s i s I w i l l equal: -
b .4.
&
a
,
= Amos.Am.

g
15
By s u b s t i t u t i n g t h i s r e l a t i o n i n t h e e q u a l i t y o b t a i n e d above,
w e have :
19[I'
~

a- 1
-=T(*u+ %).No,
It
~ f i (3.27)
f, i . e . , t h e kinematic e q u a t i o n f o r t h e combined motion h a s t h e
form (3.12). S i n c e t h e mappings o f t h e v e c t o r s q and q a r e
3' r e p r e s e n t e d o n t o t h e same ( r e f e r e n c e ) b a s i s , t h e a d d i t i o n of t h e
a n g u l a r v e l o c i t y v e c t o r s r e s u l t s . The e q u a l i t y (3.27) i s a
r - f l e e t i o n o f t h e known kinematic l a w of a n g u l a r v e l o c i t y
a d d i t i o n f o r t h e a d d i t i o n of r e l a t i v e motions.

i By analogy, b y c o n s l d e r i n g t h e secone e q u a l i t i e s of (3.25)

and (3.261, we o b t a i n :

The p r o j e c t i o n s of t h e v e c t o r ol o n t o t h e b a s i s Et are determined / l o 5 -

by t h e r o t a t i o n o p e r a t i o n , t h e i n v e r s e o p e r a t i o n o f t h e b a s i s
t r art; f ~ r m ai to n :
~Ip=R.rno~~oY*,

Hence, i t follows t h a t :

F- =-
at
I
2
w (talc +a=),
0
i . e . , t h e e q u a t i o n t a k e s t h e form (3.11) and t h e a d d i t i o n of t h e
a n g u l a r v e l o c i t y v e c t o r s a l s o r e s u l t s . We n o t e t h a t t h e r e l a t i o n s
(3.27) and (3.28) could have been o b t a i n e d d i r e c t l y from (3.11)
and (3.12) by t a k i n g i n t o account t h a t t h e v e l o c i t y of t h e
c o o r d i n a t e system E' r e l a t i v e t o t h e system I e q u a l s mi+*.
The o b t a i n e d conclusion i l l u s t r a t e s t h e v a l i d i t y o f t h e kinematic
relations.

3.3. KINEMATIC EQUATIONS IN OTHER PARAMETERS

I. D i r e c t i o n c o s i n e s . For t h e d e r i v a t i o n of t h e k i n e m a t i c
equations r e l a t i n g t h e d e r i v a t i e s of t h e cosines with t h e angular
v e l o c l t y v e c t o r co:..ponents, w e c o n s i d e r t h e reli ::ion (2.18)
g i v i n g t h e t r a c s f o r m a t i o n o f a v e c t o r o n t o a v e c t c r f o r an
orthogonal t r a n s f o r m a t i o n , This r e l a t i o n corresponds t o t h e
m a t r i x e q u a l i t y (2.17). W e write t h e s e e q u a l i t i e s by s u b s t i t u t i n g
T
f o r t h e m a t r i x A t h e e q u a l m a t r i x B.

T h i s t r a n s f o r m a t i o n d c s r i b e s t h e change o f a v e c t o r f i x e d i n t h e
moving body c o o r d i n a t e s y s t e a , which o c c u r s because of t h e
motion o f t h e b a s i s . The componects o f r i n t h e r e f e r e n c e I and
f i n a l E b a s e s a r e t h e same. Hence, it f o l l o w s t h a t t h e m a t r i x
R is constant.

By c o n s i d e r i n g t h e change of t h e v e c t c r o c c u r r i n g because
of t h e motion of t h e b a s i s , we have f o r t h e m a t r i x r e l a t i o n
(3.29):
D
K- On t h e o t h e r hand, t h e change o f t h e v e c t o r components f o r an
i n f i n i t e s i m a l t r a n s f o r m a t i o n (3.5) was considered i n paragraph
3.1.
-
/lo6 ,: -

D
s= We w i l l f i n d t h e dependence of t h e q u a n t i t y R ' on t h e a n g u l a r
I
*i

g v e l o c i t y . L e t us have two neighboring v a l u e s R'(t+dt) and R'(t),

$L which d i f f e r by an i n f i n i t e s i m a l o p e r a t o r ( 3 . 5 ) :
8.
+ At) =(1 +e) R' (t).
.T
!$ R' (t

From t h i s r e l a t i o n , we have:
bR' = R' (t +At) - R' (t)=eRP(0;
By t a k h g t h e r a t i o o f t h i s q u a l i t y w i t h At and t a k i n g t h e l i m i t ,
w e obtain:

R' = (deldt) R' =QR', (3.31)

where deldt i s t h e a n g u l a r v e l o c i t y m a t r i x ( 3.6 ) .

We n o t e t h a t t h e e q u a l i t y (3.31) i s t h e m a t r i x form of t h e
v e c t o r r e l a t i o n ( 3 . 3 ) . I n a d d i t i o n , s i n c e t h e r e l a t i o n (3.29)
d e s c r i b e s t h e motion o f t h e v e c t o r r r e l a t i v e t o t h e r e f e r e n c e b a s i s ,
t h e elements o f t h e m a t r i c e s R and R', a s w e l l as t h e a n g u l a r
velocity matrix 9 , a r e respectively projections of t h e vectors
r, r 1 and w onto t h e f i x e d c o o r d i n a t e system I. I n connection i
4
w i t h t h i s , we w i l l subsequently denote t h e m a t r i x Q i n e q u a l i t y
(3.31) by t h e index of t h e b a s i s . S i n c e t h e p r o j e c t i o n s of t h e
v e c t o r w onto t h e basis I a r e denoted by t h e q u a n t i t i e s ii
3
Qi(@=Q,il+Qzir+ Q& , then: 2
B
By comparing t h e r e l a t i o n s (3.31) and ( 3 . 3 0 ) , we o b t a i n

By m u l t i p l y i n g t h e e x p r e s s i o n ( 3 . 3 2 ) c n t h e r i g h t by t h e nonzero
m a t r i x B, we have (BB'= BTB=l) :

T h i s i s t h e first form of t h e k i n e m a t i c e q u a t i o n f o r t h e d i r e c t i o n
c o s i n e s , i n which t h e magnitudes of t h e p r o j e c t i o n s t h e a n g u l a r
v e l o c i t y v e c t o r a r e t a k e n on t h e f i x e d b a s i s . /lo7

To o b t a i n t h e second form o f t h e e q u a t i o n , we c o n s i d e r t h e
m a t r i x $2, , which o b v i o u s l y i s an o p e r a t o r m a t r i x . It was shown
i n paragraph 2 . 1 t h a t with a b a s i s transformation t h e matrix
o p e r a t o r s a t i s f i e s t h e similar t r a n s f o r m a t i o n ( 2 . 2 7 ) . S i n c e A=Bt.,
t h e n , i n accordance w i t n ( 2 . 2 7 ) , t h e o p e r a t o r i n the basis E
(we d e n o t e i t by QE ) w i l l b e r e l a t e d t o Q by t h e f o l l o w i n g
similar transformation:

The r e l a t i o n (3.34) p e r m i t s one t o f i n d t h e p r o j e c t i o n o f t h e

a n g u l a r v e l o c i t y v e c t o r o o n t o t h e b a s i s E. These components
a r e determined by t h e f o l l o w i n g o p e r a t o r :

where ~=olel+02c,+o)~e3, and a, i s t h e p r o j e c t i o n o f t h e v e c t o r m

o n t o t h e b a s i s E.
 BY S u b s t i t u t i n g i n (3.33) t h e a n g u l a r v e l o c i t y m a t r i x Qc
e x p r e s s e d by Qe i n accordance w i t h ( 3 . 3 4 ) , we o b t a i n t h e second
form of t h e kinematic e q u a t i o n , i n which t h e magnitudes of t h e
p r o j e c t i o n s of t h e a n g u l a r v e l o c i t y a r e t a k e n on t h e body c o o r d i -
n a t e system:

We n o t e a t once t h a t t h e form of t h e k i n e m a t i c Equations (3.33)

and (3.35) i s s i m i l a r t o t h e form o f t h e Equations ( 3 . 1 2 ) and (3.11),
respectively.

I n t h e c a s e when t h e o r t h o g o n a l t r a n s f o r m a t i o n i s s p e c i f i e d
i n t h e form where t h e m a t r i x A i s used, t h e k i n e m a t i c e q u a t i o n s
f o r t h e m a t r i x A a r e o b t a i n e d from (3.33) and (3.35) t a k i n g i n t o
accourt t h a t :

We have :

A 3 : - Q E ~ = - AQ,. (3.36)

By analogy t o r e l a t i o n (3.32) proceedlng from t h e e q u a l i t y

(3.35), we o b t a i n t h e m a t r i x d e f i n e d by t h e p r o j e c t i o n s o f t h e
angular v e c t o r onto t h e body axes as a f u n c t i o n of t h e d i r e c t i o n
cosines and t h e i r d e r i v a t i v e s :

Since t h e determinant o f t h e m a t r i x of an o r t h o g o n a l t r a n s f o r m a t i o n
e q u a l s one, t h e n t h e i n v e r s i o n of t h e Equations (3.32) and (3.37)
i s always p o s s i b l e . Thus, t h e k i n e m a t i c Equations ( 3 . 3 3 ) , (3.35)
and ( 3 . 3 5 ) a r e n o t d e g e n e r a t e f o r any v a l u e s of t h e p a r a m e t e r s ,
i . e . , f o r any p o s i t i o n of t h e r i g i d body.
 We w i l l w r i t e t h e k i n e m a t i c e q u a t i o n s i n s c a l a r form. S i n c e
i n ~ i r i t i n gche o r t h o g o n a l t r a n s f o r m a t i o n s t h e m a t r i x A i s more
f r e q u e n t l y used, we w r i t e t h e e q u a t i o n s f o r t h e elements a
ij
keeping i n mind t h a t b i j = a j i . By u s i n g e q u a t i o n (3.36 1, we
write t h e f o l l o w i n g e i g h t e e n s c a l a r e q u a t i o n s b e i n g che Poisson
equations:
= - ~$314- %a%, -
= Q3at2 Wu, +
+
6u = - %all @laat. 6t2= - Blak3 Q3ak1, +
aJI= - alas + +
W I L , d u = - Q2akl 0 1 a ~
(i,k = l , 2, 3).

i
The r e l a t i o n s (3.32) and (3.37) determine t h e magnitudes o f t h e
a n g u l a r v e i o c i t y components :
Q,=-& and QI= iTA.
We have :

Nine o f t h e k i n e m a t i c P o i s s o n E q u a t i c n s (:.38) which c o n t a i n

t h e p r o j e c t i o n of t h e a n g u l a r v e l o c i t y v e c t o r o n t o t h e body o r o n t o
t h e f i x e d a x e s , d e s c r i b e t h e motion of t h e t h r e e b a s i s v e c t o r s of
t h e body b a s i s . F o r t h e o r i e n t a t i o n of t h e body i t i s o b v i o u s l y /lo9 -
s u f f i c i e n t t o s p e c i f y t h e p o s i t i o n o f only two o f i t s a x e s . Thus,
any t r i p l e t of e q u a t i o n s can be w r i t t e n . One t r i p l e t o f e q u a t i o n s
d e s c r i b e s t h e motion o f one a x i s ; t h e r e b e i n g one c o u p l i n g e q u a t i o n
(an e q u a t i o n f i x i n g t h e l e n g t h o f t h e b a s i s v e c t o r , i . e . , t h e :
e q u a t i o n o f t h e norm). I n a d d i t i o n , when t h e motion o f one a x i s
i s s p e c i f i e d ( t h e f i r s t t r i p l e t o f e q u a t i o n s ) , t h e r e a r e two
r e l a t i o n s imposed on t h e second t r i p l e t of e q u a t i o n s , which f i x
t h e l e n g t h of t h e b a s i s v e c t o r and i t s p e r p e n d i c u l a r i t y t o t h e r
f i r s t . Thus, t h e system of k i n e m a t i c e q u a t i o n s c o n t a i n s t h r e e
independent p a r m e t e x .

The E q u a t i o n s ( 3 . 3 3 ) , (3.35) and (3.36) have t h e most g e n e r a l

form of k i n e m a t i c e q u a t i o n s c o i n c i d i n g w i t h t h e forin o f t h e
e q u a t i o n s i n q u a t e r n i o n s ( 3 . 1 1 ) , ( 3 . 1 2 ) . The r i u l t i p l i c a t i o n o f
t h e t r a n s f o r m a t i o n q u a t e r n i o n and t h e q u a t e r n i c n r n a ~ ~ i nt hg e
a n g u l a r v e l o c i t y v e c t o r on20 some b a s i s o r a n o t h e r h a s c a r r i e d
out i n t h e case of t h e q ~ a t e r n i o ne q u a t i o n s . I n t h e c a s e o f t h e
save e q u a t i o n s f o r t h e d i r e c t i o n c o s i n e s , m u l t i p l i c a t i o n of t h e
t r a n s f o r m a t i o n m a t r i x by t h e a n g u l a r v e l o c i t y m a t r i x i s c a r r i e d
out. W e n o t e t h a t one can o b t a i n from E q u a t i ~ n( 3 . 3 3 ) , ( 3 . 3 5 ) and
(3.36) e q u a t i o n s from any k i n e m a t i c p a r a m e t e r s only i f t h e
o r t h o g o n a l t r a n s f o r m a t i o n i s e x p r e s s e d i n them (which i s always
possible).

We w i l l show i n c o n c l u s i o n t h a t E q u a t i o n s ( 3 . 3 3 ) , ( 3 . 3 5 )
and (3.36) s a t i s f y t h e well-known law of k i n e m a t i c s , a c c o r d i n g t o
which t h e v e c t o r a d d i t i o n o f a n g u l a r v e l o c i t i e s i s perfcrmed f o r
r e l a t i v e motions. We c o n s i d e r two t r a n s f o r m a t i o n s : t r a n s i t i o n
from t h e b a s i s I t o t h e b a s i s E d e f i n e d b y t h e m a t r i x A1, and
t h e t r a n s i t i o n from t h e basis E t o t h e b a s i s E t s p e c i f i e d by
t h e m a t r i x A*. The r e s u l t a n t t r a n s f o r m a t i o n w i l l be d e f i n e d by
the matrix A,=A,A, . Let ol be t h e a n g u l a r v e l o c i t y o f t h e
b a s i s E r e l a t i v e t o t h e b a s i s I , and w 2 be t h e r o t a t i o n a l
v e l o c i t y of t h e basis Et r e l a t i v e t o t h e b a s i s E. F u r t h e r ,
l e t -Q, and Q, be t h e corresponding m a t r i c e s o f t h e s e v e l o c i t i e s ,
I n accordance w i t h ( 3 . 3 6 ) , we have two systems of k i n e m a t i c
e q u a t i o n s d e f i n i n g t h e r e l a t i v e motion o f t h e b a s e s I , E , El:

By d i f f e r e n t i a t i n g t h e m a t r i x A of t h e r e s u l t a n t t r a n s - / 110 j
3
f o r m a t i o n , we o b t a i n :
m a ~ r i x Q I E i s a:1 o p e r a t o r " p r o j e c t i n g " o n t o t h e b a s i s E; f o r t h e
t r a n s i t i o n t o the b a s i s Ef i t cxperiences t h e s i m i l a r t r ~ n s f o r m a -
tion:
QIE*= A~QI E%

The k i n e m a t i c e q u a t i o n :
&= --(QIF + Q2&) &,
which i s t h e f i r s t form o f t h e k i n e m a t i c e q u a t i o n f o r t h e motion
w i t h a n g u l a r v e l o c i t y @,-I-%.,
f o l l o w s from t h e e q u a l i t i e s (3.40)
with consideration of t h i s .

11. t h e o p e r a t o r i s expressed i n t h e b a s i s , I then i t

w i l l have t h e form
Qu = ATQsAI,

t h a n k s t o which we o b t a i n from t h e e q u a l i t i e s ( 3 . 4 0 ) t h e second

form o f t h e k i n e m a t i c e q u a t i o n :
A3 = - A3 (QII+ QY).

The a d d i t i o n o f t h e a n g u l a r v e l o c i t y components a l s o r e s u l t s i n
t h i e equation.

11. E u l e r and Krylov Angles. The k i n e m a t i c e q u a t i o n s i n

t h e p a r a m e t e r s , which a r e t h e E u l e r o r Krylov a n g l e s , a r e w e l l
known [9,16,31]. Thus, w e w i l l d i s c u s s them v e r y b r i e f l y . The
r e l a t i o n of t h e a n g u l a r v e l o c i t y compcnents w i t h t h e d e r i v a t i v e s
o f t h e E u l e r o r Krylov a n g l e s can be o b t a i n e d from t h e r e l a t i o n s
( 3 . 3 2 ) and ( 3 . 3 7 ) by u s i n g t h e v a l u e of t h e m a t r i x ( 2 . 6 7 ) o r (2.70),
r e s p e c t i v e l y . howevep, i t i s e a s i e r t o use t h e f a c t t h a t t h e
a n g u l a r v e l o c l t y v e c t o r e q u a l s t h e sum of t h e a n g u l a r v e l o c i t y
v e c t o r s o f t h e r e l a t i v e motion components. S i n c e t h e transforma-
t i o n i s s p e c i f i e d by t h r e e s u c c e s s i v e p l a n e r o t a t i o n s by t h e
a n g l e s '9, d ?.nd $, t h e n t h e a n g u l a r v e l o c i t g of each r o t a t i o n i s
d i r e c t e d along t h e a x i s o f r o t a t i o n and e q u a l s 9, b and \), . We
have from F i g u r e 2 . 1 f o r t h e E u l e r a n g l e s :

We o b t a i n t h e f o l l o w i n g r e l a t i o n s f o r 'L:ylov s n g i ? s i n
accordance t o F i g u r e 2 . 2 :

where, a s i n (3.411, 61, and or (k = 1,2,3) a r e t h e p r o j e c t i o n s o f t h e

a n g u l a r v e l o c i t y v e c t o r o n t o t h e f i x e d ( I ) and body (E) b a s e s .

The k i n e m a t i c e q u a t i o n s a r e o b t a i n e d by i n v e r t i n g t h e
E q u a t i o n s (2.41) and ( 2 . 4 2 ) . The d e t e r m i n a n t of t h e system of
Equations (3.41) r e s o l v e d r e l a t i . r e t o @, and 6 e q u a l s sing and
t h u s , t h e system (3.41) i s n o t i n v e r t i b l e f o r g = kn (k--0, I, ...1 .
These v a l u e s correspond t o t h e l o s s o f one degree o f freedom
( c o i n c i d e n c e o f t h e axes of r o t a t i o n 9 and cJ) . We have f o r cD# kn:
4 = ~ ~ c o s p + ~ s i n q \,) , = ~ l c o s t , - c s s i n ~ 1
sin g
8=Ql--Qz- corg a

sin g
-
-6=03--cplsin6ctgg-
cos 8 ctg g,
+=as-olsincpctg$+
+
Q2 cos cp ctg 9,
sln d
-a, -+sin *
m,;i;i.

As ?s s e e n from t h e s e e q u a t i o n s , t h e r a t e of change of t h e a n g l e s
Q and t~ t e n d s t o i n f i n i t y w i t h t h e approach t o t h e p o i n t n&'* .
 For t h e s o l u t i o n of t h e Equations (3.42) r e l a t i v e t o t h e
q u a n t i t i e s @,4 and 4 , i t i s n e c e s s a r y t h a t t h e d e t e r n i n a n t o f
e a c h of t h e systems e q u a l i n g COS* n o t be e q u a l t o z e r o . Coinci- / I 1 2
dence o f t h e d j r e c t i o n s o f 1 and 6 o c c u r s a t t h e p o i n t s $ = ( 2 k + I),:
and t h e s y s t e n o f such p a r a m e t e r s l o o s e s one d e g r e e o f f r e e d o m -
We h a v e , i n accordance w i t n ( 3 . 4 2 ) , a t t h e p o i n t s 0 # ( 2 k + 1); :
. t i = ~ ~ c o s p - ~ ~ s i n c p+=ozcosi3-o,sint?,
, 1
4 = 4 2 ! W + ~ ~ 2 ! 9 ! if=@, $a2sin*tgt+o,cos6tg$,
c- 4'
,
cos g '

cos 8 sin 8
@ = Q ~ + I ) I c o ~ P ~ ~ $4+= @ 3 G + 0 ) 1 G - (3.44)
+Q2 sin cp tg 9,
A s i n t h e p r e c e d i n g c a s e , t h e r a t e s o f change o f t 6 e a n g l e s and
d t e n d t o i n f i r ~ i t yw i t h t h e a p p r c l c h t o t h e p o i n t $=(2k+ 1) $,
a l t h o u g h Sli and remain f i n i t e .

We n o t e d cbove t h a t t h e e q u a l i t i e s ( 3 . 4 1 ) and ( 3 . 4 2 ) can

be o b t a i n e d from t h e g e n e r a l r e l a t i o n s ( 3 . 3 2 ) and ( 3 . 3 7 ) . How-
e v e r , t n e k i n e m a t i c E q u ~ i i o n s ( 3 . 4 3 ) and ( 3 . 4 4 ) do n o t c o r r e s 2 o n d
t o t h e g e n e r a l E q u a t i o n s ( 3 . 3 3 ) and ( 3 . 3 5 ) i n which t h e d e r i v a -
t i v e s o f t h e d i r e c t i o n c o s i n e s , which a r e combinations of t h e
a n g l e s cp, 6 and $ and t h e i r d e r i v a t i v e s , a p p e a r .

Thus, t h e k i n e m a t i c E q u a t i o n s ( 3 . 3 3 ) and ( 3 . 3 5 ) a r e n o t
d e g e n e r a t e f o r any r i g i d body motion, which we do n o t have i n
t h e c a s e of t h e k i n e m a t i c e q u a t i o n s i l l t h e E u l e r and Xrylov
angles.

111. Cayley-Klein P a r a m e t e r s . The method developed i n

p a r a g r a p h 3 . 2 f o r d e r i v i n g t h e k i n e m a t i c e q u a t i o n s can be a p p l i e d
( a s i n t h e c a s e of q u a t e r n i o n s and t h e d i r e c t i o n c o s i n e s ) f ? r
t h e Cayley-Kleiri p a r a m e t e r s . We f i n d f l r s t t h e Cayley-Klcin
p a r a m e t e r s f o r an i n f i n i t e s i m a l t r a n s f o r m a t i o n , i . e . , we d e t e r m i n e
?
t h e i r dependence on t h e i n f i n : i t e s i m a l r o t a t i r I v e c t o r a n d , conse-
q u e n t l y , on t h e a n g u l a r v e l o c i t y . F c r t h i s , i t i s most c o n v e n i e n t
t o use t h e r e p r e s e n t a t i o n of t h e u n i t a r y matrix of t h e transformation
 i n t h e form of i t s r e s o l u t i o n i n t h e P a u l i s p i n m a t r i c e s ( 2 . 8 7 ) ,
i . e . , t o r e p r e s e n t t h e Cayley-Klein i n t h e form: -
/I13

This r e l a t i o n i s o b t a i n e d by comparing t h e two r e p r e s e n t a t i o n s

of t h e transformation m a t r i x i n t h e form (2.86) and (2.87).
They permit cne t o e x p r e s s t h e Cajjley-Klein parameters as f u n c t i o n s
o t h e r o t a t i o n a n g l e and t h e d i r e c t i o n c o s i n e s o f t h e u n i t
'

t r a n s f o r m a t i o n v e c t o r . We n o t e t h a t t h e r e l a t i o n s (3.45) c o r r e s -
pond t o t h e e q u a l i t i e s (2.85) r e l a t i n g t h e Cayley-Kl-zin parameters
t o t h e components of a q u a t e r n i o n .

I n accordance w i t n (3.45), t h e i i ~ f i n i t e s i m a lt r a n s f o r m a t i o n ,
i . e . , t h e t r a m f o r m a t i o n w i t h t h e s m a l l r o t a t i o n a n g l e A*, w i l l
correspond t o t h e z ~ t r ' i x :

~ b t a i n e d ,o b v i o u s l y , w i t h c o n s i d e r a t i o n o f w a n t i t i e s t o first
o r d e r r e l a t i v e t o be i n t h e formulae (3.45). We r e p r e s e n t t h i s m a t r i x
d e f i n i n g an almost i d e n t i c t l t r a n s f o r m a t i o n i n t h e form of t h e sum
ox' t h e u n i t m a t r i x and t h e i n f i n i t e s i m a l r o t a t i o n matpix:

W e c o n s i d e r t h e r a t i o of t h e m a t r i x U, t o t h e element of
time At : and t a k e t h e l i m i t of t h i s r a t i o f o r 8 t " O . In this
A*
case t h e q u a n t i t i e s v - 7 become t h e p r o j e c t i o n s of t h e a n g u l a r
velocity vector. By denoting t h e m a t r i x o f t h e r a t l o U,lbt by
V, w e o b t a i n

By u s i n g t h e r e s o l ~ t i o no f
t h e m a t r i x i n t h e P a u l i s p i n matrl-
c e s (2.84;, one can s e e t h a t :
i
V=p(wlPr + u 2 ~ t - ? - 0 3 ~ . (3.48)
i . e . , t h e ar.gular v e l o c f t y niatrix
T is resolved l i k e a vector along
Figure 3 . 3 . t h e " b a s i s v e c t o r s " which are t h e
s p i n m a t r i c e s . Here, o f c o u r s e ,
t h e r e appears t h e complete analogy o f q u a t e r n i o n s and t h e s p i c
m a t r i c e s . Hence, i t f o l l o w s t h a t t h e i n f i n i t e s i m a l t r a n s f o r m a t i o n
m a t r i x (3.46) i s r e p r e s e n t a b l e w i t h c o n s i d e r a t i o n o f (3.47) i n
t h e f o l l o w i n g form:

Now w e can t i n n t o t h e f o r m u l a t i a n o f t h e kinematic e q u a f i o n s .

Let t h e p o s i t i o n of t h e b a s i s v e c t o r s of t h e b a s i s E r e l a t i v e t o
t h e r e f e r e n c e b a s i s I be determined by a t r a n s f o r m a t i o n of t h e
t y p e ( 2 . 8 0 ) s p e c i f i e d by t h e u n i t a r y m a t r i x U. L e t u s c o n s i d e r
two neighboring p o s i t i ~ n so f t h e b a s i s E d e f i n e d by t h e v a l d e s
U ( t ) and U ( t + M ) . Obviously, t h e t r a n s i t i o n from t h e b a s i s I
t o t h e b a s i s E a t t h e t i m e t + A i s p e c i f i e d by t h e m a t r i x U ( i + A t )
can be r e p r e s e n t e d i n t h 2 form of f h e sum of t r a n s f o r m a t i o n s : t h e
t r a n s f o r m a t i ~ nU( t ) and t h e i n f i n i t e s i m a l t r a n s f o r m a t i o n AU
( F i y ~ i - e3 . 3 ) .

I n accordance w i t h t h e r u l e s f o r m u l t i p l y i n g o p e r a t o r s ,
we have w i t h t h e a d d i t i o n of t h e t r a n s f o r m a t i o n s :
 .-

One should n o t e t h a t s i n c e t h e m a t r i x AU s p e c i f i e s a t r a n s i t i o n
between two p o s i t i o n s of t h e b a s i s E t h e n t h e a n g u l a r v e l o c i t y
matrix V c o n t a i n s t h e components of t h e a n g u l a r v e l o c i t y v e c t o r
p r o j e c t i o n onto t h e 5ody axes. I n accordance w i t h t h i s , i n
t h e obtained expression the i n f i n i t e s i m a l rotatior' matrix (3.49)
w i l l i n c l u d e i n i t s components t h e s r o j e c t i o n o f t h e a n g u l a r
v e l o c i t y v e c t o r o o n t o t h e axes o f t h e b a s i s E, i . e . , t h e
q u a t : t i e s which w e have denoted by Oi , W e r e p l a c e t h e m a t r i x / 115
W i n t h e o b t a i n e d e x p r e s s f o n a c c o r d i n g t o (3.49), and a l s o , i n
accordance with t h i s d i s c u s s i o n , w e w i l l denote tht- n a t r i x V
wfth t h e b a s i s index:
u (1 + At)= U(I) + VEU (1) Af.

We denote:

and, i n accordance w i t h t h e rule; o f hxatrix d i f f e r e n t i a t i o n ,

we obtain:

Taking t h e l i m i t a s A t + 0 , we o b t a i n t h e first form o f t h e

kinematic e q u a t i o n s f o r t h e Cayley-Kleir. parameters :

From t h i s e q u a t i o n we o b t a i n a t once t h e magnitudes o f t h e

a n g u l a r v e l o c i t y v e c t o r p r o j e c t i o n s o n t o t h e body axes ~ y
m u l t i p l y i n g on t h e r i g h t by t h e Hermitian c o n j u g a t e o f t h e m a t r i x
We c o t e a t once t h e formal s i m i l a r i t y o f t h e r e l a t i o n s (3.5b
and (3.51) t o t h e analcgous E q u a t i o n s (3.35) and (3.37:, nnd
a l s o t h e s i m i l a r i t y o f (3.50) t o (3.11). The d i f f e r e n t Q r a e r c f
m u l t i p l i c a t i o n i n t h e formulae ( 3 . 3 6 ) , (3.50) and ( 3 . 1 1 j i:
e x p l a i n e d by t h e o r d e r of m u l t i p l y i n g t h e o p e r a t o r s o f t h e
s u c c e s s i v e t r a n s f o r m a t i o n s under c o n s i d e r a t i o n and t h e eigen-
quaternions ( c f . theoren 2.4). We w i l l write t h e s e e q u a t : ~ - , s i n
t h e c o o r d i c a t e s . We have fram Equztions (3.50): s
9

!3y perforn;ir?g cho m a t r i x m u l t i p l i c a t i o n , w e o b t a i n

$
3
We n o t e t h a t o f t h e f o u r p r e s e n t e d e q u a t i o n s t h e second p a i r /11-5
( f o r 6 and 6) i s a c w s e q u e n c e of t h e f i r s t p a i r f o r a and y and -
i s o b t a i n e d from i t w i t h c o n s i d e r a t f o n of t h e r e l a t i c n (2.78)
II
between t h e Cayley-Xlein p ~ r a m e t e r s !it i s t h e complex condugate
of t h e f i r s t p a i r o f equat$.ons). I f t h e e x p r e s s i o n s f o r a and y
a r e r e p l a c e d by t h e elements o f t h e q u a t e r n i o n s ( 2 . 8 9 ) , t h e n one
can v e r i f y t h a t t h e E q u a t i o n s (3.52) become che E q u a t i o n s (3.23)
f o r quaternions. I t s h o u l d be n ~ t e dt h a t s i n c e i n E q u a t i o n s ( 3 . 5 2 )
a ar~dy (and c o n s e q u e n t l y , $ and 6 ) a r e complex q u a n t i t i e s .
Then, t h e i n h e r e n t l y s c a l a r r e a l e q u a t i o n s c o r r e s p o n d i n g t o t h e
Equation ( 3 . 5 0 ) w i l l be t h e Eqdations (3.23) f o r t h e q u a t e r n i o n ;
t h e cotipling Equations (2.78) becoming t h e q u a t e r n i o n norm
equation.

I n o r d e ~t o o b t a i n t h e sec0r.d form o f t h e e q u a t i o n s c o n t a i n -
i n g t h e p r o j e c t i o n of t h e a n g u l a r v e l o c i t y v e c t o r o n t o t h e
axes of t h e f i x e d b a s i s , l e t u s cans:der a n o t h e r sequence of
t r a n s f o r m a t i o n s . Let t h e p o s i t i o n of t h e c o o r d i n a t e system
E a t t h e time t + At be d e f i n e d , as p ~ e v i o u s l y ,by t h e u a i t a r y
matrix U ( t + & f ) . I n c o n t r a s t t o t h e preceding c a s e , t h i s
p o s i t i o n can be r e p r e s e n t s d i n t h e form o f an i n f i n i t e s i m a l
t r a n s f o r m a t i o n : a t ~ a n s i t i o nfrom t h e basis I t o t h e basis I'
such that ?.$e next t r a n s i t i o n from 1' t o E a t t h e time t + A t
13 d e f i n e d by t k e natrl.; CCt?.

Thus, i f t h e m a t r i x U ( l + A t ) i n fk- r r e - e d i n g case was

r e p r e s e n t e d i n t h e form of t h e sequence of m a t r i c e s U ( t ) and AU
( c f . F i g u r e 3.3), t h e n i n t h i s v e r s i o n t h e secuence i s i n v e r t e d .
The m a t r i x AU s t i l l determines t h e i n f i n i t e s i m a l t r a n s f o r m a t i o n
c a r 2 i e d o u t i n t h e b a s i s I. I n accordance with t h i s , t h e
i n f i n i t e s i m a l transformation matrix w i l l contain t h e projection
of t h e a n g u l m v e l o c i t y v e c t o r a onto t h e axes of t h e f i x e d b a s i s
I, i . e . , i n accordance w i t h (3.49) and ( 3 . '!7) :

P r o c e e c i i ~ qfrom t h e sequence o f t r a n s f o r m a t i o n s d e f i n e d above,

we obtain:
u ( t + M)= u ( ~ ) A u .

From t h i s e q u a l i t y with c o n s i d e r a t i o n o f (3.53) a f t e r d i v i s i o n /117

by u and t a k i n g t h e l i m i t , we o b t a i n t h e second form of t h e
kinematic e q u a t i o n :
u =uv,. (3.54)

By m u l t i p l y i n g t h i s e q u a t i o n on t h e r i g h t by U+, we o b t a i n
t h e e q u a t i o n f o r t h e a n g u l a r v e l o c i t y matrix:
 We note t h e fo-ma1 s i m i l a r i t y of t h e kinematic equation
(3.54) w i t h (3.36) and (3.12) obtained prevfously. W e write
Equation (3.54) i n coordinates:

By c a r r y i n g out t h e matrix m u l t i p l i c a t i o n and e q u a t i n g elements,

we obtain:
a = Qs~ a + A -;Y=Tv+-F~
a, a,--& I
6- --a,p + P +*a , %-d=-T6+Tv./
- in, &+a,

W e note that t h e second p a i r of equations ( f o r y md 6)

is a consequence of t h e first p a i r ( t h e eguatlons a r e complex
co?jugates). The Zquations (3.56), e x a c t l y as f o r (3.52), a r e
not y e t r e a l sea!-ar equations, s i n c e t h e parameters a g. y and 6
a r e comnplex. By s e p a r a t i z g t h e r e a l ;uld imaginary parts of
(3.56) w i t h consideration of (2.89), w e o b t a i n t h e equations
f o r t h e quaternion (3.24).

We w r i t e out again i n s c a l a r form t h e equation f o r t h e

components of t h e angular v e l o c i t y i n accordance w i t h Equations
(3.51) and (3.55):

from which w e have:

-o:= - i ( a p + P + w + i ) y ) *
(~2=ap+@-ip-&y,
.s=2i($@+kb)= - 2i(a6+bV); I
Q,= -i(crs+~&+Bi,+W*
Q2=oS+M-*-y.
9,=2i(~$ + 6)-- 2 i ( a i +&ir). I
 One can v e r i f y by s u b s t i t u i i n g (3.89) i n t o (3.57) and (3.58)
t h a t t h e e q u a l i t i e s (3.22) and (3.21) f o r t h e q u a t e r n i o n components
a r e o b t a i n e d . S i n c e , i n p r a c t i c e t h e r e a l s c a l a r kinematic
e q u a t i o n s a r e s o l v e d , t h e n t h e e q u a t i o n s i n t h e Cayley-Klein para-
meters a r e i d e n t i c a l t o t h e e q u a t i o n s i n q u a t e r n i o n components,
d i f f e r i n g frorr- them only i n form. One can f u r t h e r show, by
analogy t o t h e kinematic e q u a t i o n s i n t h e d i r e c t i o n c o s i n e s ,
t h a t t h e form; o f t h e kinematic e q u a t i o n s o b t a i n e d i n (3.50) and
(3.54) s a t i s f y t h e law of a d d i t i o n of r e l a t i v e motions, w i t h which
t h e a d d i t i o n o f t h e v e c t o r s of r e l a t i v e a n g u l a r v e l o c i t i e s a r e
c a r r i e d o u t . This proof can be c a r r i e d nut on t h e S a s i s o f t h e
analogy of :he r o t a t i o n o p e r a t i o n r e p r e s e n t a t i o n s (2.80) and (1.20) ;
a l i t h e r e s u l t s o b t a i n e d from t h e q u a t e r n i o n s b e i n g used f o r t h i s .

IV. Zquations f o r t h e F i n i t e R o t a t i o n Vector. S i n c e among

t h e k i n e m ~ t i cparameters t h e r e a r e parameters d e f i n e d by t h e f i n i t e
r o t a t i o n v e c t o r ( t h e magnitude of t h e r o t a t i o n a n g l e and t h e
u n i t v e c t o r 5 of t h e f i n i t e r o t a t i o n ) , we w i l l d e r i v e t h e kinematic
e q u a t i o n s f o r t h e s e parameters. S i n c e t h e s t q u a n t i t i e s a r e
d e f i n e d by t h e t r a n s f o r m a t i o n q u a t e r n i o n components, t h e kine-
matic e q u a t i o n s f o r t h e q u a t e r n i o n a r e u s u a l l y used f o r t h e s e
e q u a t i o n s . However, t h e equaticils f o r % and f d i f f e r f o r m a l l y from
the quaternion eqaations.

For t h e d e r i v a t i o n o f t h e s e e q u a t i o n s , we u s e , f o r example,
3 q u a t i o n s (3.191, azcording t o which:

-
/I19
where ar i s t h e q d a t e r n i o n mapping t h e a n g u l a r -1e1ocity v e c t o r
o n t o t h e b a s i s E, and A* i s t h e e i g e n q u a t e r n i o n o f t h e t r a n s -
formation, i . e . , t h e q u a t e r n i o n whose components a r e t h e pro-
j e c t i o n s of t h e f i n i t e r c t a t i o n v e c t o r onto t h e b a s i s E.
 If the q u a t e r n i o n m u l t i p l i c a t i o n i n t h i s e q u a t i o n i s r e p l a c e d by
o p e r a t i o n s i n three-dimensional s p a c e , t h e n s i n c e t h e v e c t o r
..
p a r t s o f t h i s q u a t e r n i o n a r e s p e c i f i e d i n t h e same b a s i s , t h i s
e q u a t i o n becomes simply t h e v e c t o r e q u a t i o n . Consequently, we
%. have, i n accordance w i t h ( 1 . 9 ) :
B

For t h i s :

based on t h e form o f t h e t r a n s f o r m a t i o n ( 1 . 1 1 1 , w i t h c o n s i d e r a t i o n
of t h e s e e q u a l i t i e s , we o b t a i n t h e e q u a t i o n f o r t h e a n g u l a r v e l o c i t y
vector:

5: The Eguati.n (3.18) i s t h e same o p e r a t i o n d e s c r i b e d i n

P
&
f a n o t h e r b a s i s (I). We w i l l l e a v e i t f o r t h e r e a d e r t o show i t
.0: a l s o becomes t h e v e c t o r Equation ( 3 . 5 9 ) .
'I
.
6 Equation (3.59) d e t e r m i n e s t h e a n g u l a r v e l o c i t y v e c t o r
1
P
through t h e k i n e m a t i c v e c t o r s and t h e i r d e r i v a t i v e s . To
1 o b t a i n t h e k i n e m a t i c e q u a t i o n s it i s n e c e s s a r y t o r e s o l v e ( 3 . 5 9 )
r e l a t i v e t o t h e d e r i v a t i v e s of t h e k i n e m a t i c p a r a m e t e r s . We
t a k e t h e s c a l a r p r o d u c t of (3.59) w i t h 5 . By t a k i n g i n t o
account t h a t E . ~ = O , s i n c e 5 i s t h e u n i t v e c t o r a n d ( k ~ ~ ; ) - 6 = 0 w e
have :

To o b t a i n t h e d e r i v a t i v e of t h e v e c t o r 5 , we use t h e kine-
m a t i c e q u a t i o n (3.11) and by method analogous t o t h a t d e s c r i b e d
we convert i t i n t o t h e v e c t o r e q u a t i o n :

With c o n s j d e r a t i o n of t h e e q u a l i t i e s e x p r e s s i n g Aa and a by
ty and 5, we o b t a i n :
7
By e x c l u d i n g t h e s c a l a r p a r t of t h i s e q u a l i t y , by t a k i n g i n t o
account t h a t
- - d
ecosTV 66cosg=ocosT d
--(a, 6)tcosp0 =

- v
and by d i v i d i n g by sinT#O (we w i l l n o t c o n s i d e r 6 = 0 , 2 n , c o r r e s -
."

ponding t o t h e i d e n t i t y t r s n s f o r m a t i o n ) , we f i n a l l y o b t a i n :
--
(3.61)

One call v e r i f y t h a t t h e E q u a t i o n (3.12) l e a d s t o t h e same

v e c t o r e q u a t i o n s . The E q u a t i o n s (3.60) and (3.61) are t h e
kinematic equations f o r t h e f i n i t e r o t a t i o n vector.

2
3.4. INVESTIGATION OF THE KINEMATIC EQUATIONS
;*
*

The i n v e s t i g a t i o n c a r r i e d o u t f o r t h e v a r i o u s k i n e m a t i c
parameters w i t h t h e h e l p o f which r i g i d body motion can b e
s p e c i f i e d have shown t h a t t h e r e e x i s t , g e n e r a l l y s p e z k i n g , only
t h r e e d i f f e r e n t t y p e s of p a r a m e t e r s . These a r e t h e d i r e c t i o n
c o s i n e s , t h e E u l e r a n g l e s and t h e q u a t e r n i o n components, which
a r e t h e Rodriguez-Hamilton p a r a m e t e r s . Such p a r a m e t e r s as t h e
f i n i t e r o t a t i o n v e c t o r components and t h e Cayley-Klein p a r a m e t e r s
reduce t o t h e q'iaternion p a r a m e t e r s , s i n c e t h e y d e f i n e , i n a
d i f f e r e n t form, t h e same p h y s i c a l q u a n t i t y , t h e e q u i v a l e n t
E u l e r r o t a t i o n about, one a x i s .

The d i f f e r e n c e of t i 2 p a r a m e t e r s i s determined by t h e method

d e s c r i b i n g t h e r i g i d body motion o r , e q u i v a l e n t l y , t h e c o o r d i n a t e
system coupled w i t h i t . I n t h e c a s e o f t h e d i r e c t i o n c o s i n e s ,
t h e " ~ o o r d i n a t ep~o~s i t i o n o f t h e body c o o r d i n a t e system i s
 s p e c i f i e d r e l a t i v e t o t h e r e f e r e n c e s y s t e m ; each ?;\is o f t h e body /121 - '

b a s i s then being represented i n t h e reference b a s i s i n a d i f f e r e n t

4.
*
I:'
'i.
f a s h i o n ( c f . p a r a g r a p h 2.1). I n t h e c a s e of t h e E u l e r a n g l e s ,
t h e p o s i t i o n o f t h e r i g i d body i s s p e c i f i e d w i t h t h e h e l p o f t h r e e
s u c c e s s i v e p l a n e r o t a t i o n s such t h a t >;kelr sum g i v e s t h e e q u i v ~ - l e n t
p o s i t i o n o f t h e body b a s i s . F o r t h e Rcdriguez-Hamilton p a r a r . e t e r s ,
t h e p o s i t i o n of he r i g i d body i s s p e c i f i e d by one equivalent
plane r o t a t i o n a5out some a x i s d e f i n e d as t h e a x i s of E u l e r
r o t a t i o n . Accordingly, t h e k i n e m a t i c e q u a t i o n s d e s c r i t i n g
the r i g i d body motion a s a f u n c t i o n o f t h e magnitude o f t h e a n g u l a r
v e l o c i t y have, g e n e r a l l y s p e a k i n g , t h r e e d i f f e r e ~ tf srlns : t h e
e q u a t i o n s i n t h e d i r e c t . o n c o s i n e s , t h e E u l e r a n g l e s znd q u a t e r n -
ions.

The k i n e m a t i c e q u a t i o n s i n t h e d i r e c t i o n c o s i n e s a r e a system
o f n i n e l i n e a r s c a l a r e q u a t i o n s s a t i s f y i n g s i x r e l a t i o n s , which
a r e t h e o r t h o g o n a l i t y c o n d i t i o n s ; t h e s e e q u a t i o n s do n o t have
s i n g u l a r p o i n t s , i . e . , i n p r i n c i p a l , t h e y a r e always s o l v a b l e .
The e q u a t i o n s i n t h e E u l e r a n g l e s (and i n t h e Krylov a n g l e s ) a r e
a system of t h r e e independent l i n e a r e q u a t i o n s having one
s i n g u l a r p o i n t i n which t h e system of p a r a m e t e r s i s d e g e n e r a t e .
The q u a t e r n i o n e q u a t i o n s a r e a system of f o u r l i n e a r non-degenerate
e q u a t i o n s s a t l ~ r ' y i n gone c o u p l i n g e q u a t i o n ( f o r t h e q u a t e r n i o n
norm).

Among a l l t h e k i n e m a t i c p a r a m e t e r s and, c o r r e s p o n d i n g l y ,
t h e methods f o r s p e c i f y i n g A g i d body motion, t h e u s e cf
q u a t e r n i o n s i s t h e most convenient. I n c o n t r a s t t o t h e d i r e c t i o n
c o s l nes , t h e o r t h o g o n a l t r a n s f o r m a t i o n o p e r a t i o n s a r e u n i q u e l y
s p e c i f i e d by t h e formal o p e r a t i o n s on q u a t e r n i o n s ( i n t h e c a s e
of t h e d i r e c t i o n c o s i n e s , a s was shown i n Chapter 2, c h e r e
e x t s t two d i f f e r e n t methods f o r s p e c i f y i n g t h e motion b y t h e
o r t h o g o n a l t r a n s f o r m a t i o n m a t r i c e s A and B.) I n t h e c a s e of
q u a t e r n i o n s , t h e r e i s t h e minimum number o f nondegenerate para-
meters and, c o r r e s p o n d i n g l y , t h e minimum number o f r e l a t i o n s ;
t h i s f a c t g i v e s t h e e s s e n t i a l advantage t o t h e s e p r r a m e t e r s
when i n t e g r a t i n g n u m e r i c a l l y t h e k i n e m a t i c e q u a t i o n s . F i n a l l y , /I22
t h e use of q u a t e r n i o n s p e r m i t s one t o r e p r e s e n t i n one form two o f
t h e most i m p o r t a n t p h y s i c a l q u a l i t i e s c h a r a c t e r i z i n g r i g i d bcdy
motion: t h e c h a r a c t e r i s t i c s of i t s l o c a l motion ( a n g u l a r
v e l o c i t y ) and t h e c h a r a c t e r i s t i c s c f i t s p o s i t i o n ( t h e f i n i t e
r o t a t i o n v e c t o r ) . Both t h e s e q u a n t i t i e s a r e r e p r e s e n t e d by t h e
v e c t o r s of t h e i n s t a n t aneous E u l e r r o t a t i o n and t h e e q u i v a l e n t
Euler rotation.

The s t r u c t u r e o f q u a t e r n i o n a l g e b r a p e r m i t s one t o r e p r e s e n t
t h e s e q u a l i t i e s i n a c l e a r form by t h e v e c t o r s of t h e s p a c e H ,
which can always c o i n c i d e w i t h r e a l t h r e e - d i m e n s i o n a l s p a c e . Then
t h e f i n i t e r o t a t i o n v e c t o r and t h e i r ~ f i n i t e s i m a lr o t a t i o n v e c t o r
( a n g u l a r v e l o c i t y ) have t h e same p h y s i c a l meaning. The a p p l i c a t i o n
of a n o t h e r formalism l e a d s t o more complicated r e p r e s e n t a t i o n s of
t h e t r a ~ s f o r m a t i o no p e r a t o r and t h e a n g u l a r v e l o c i t y o p e r a t o r .

A l l t h i s makes q u a t e r n i o n s t h e most ~ o n v e n i e n tk i n e m a t i c para-

meters f o r i n v e s t i g a t i n g t h e g e n e r a l p r o p e r t i e s o f r i g i d body
motion and, i n p a r t i c u l a r , f o r i n v e s t i g a t i n g t h e g e n e r a l p r o p e r -
t i e s of t h e kinematic equations. Since t h e k i n e z a t i c equations
d e s c r i b e t h e sane motion, t h e y must, of c o u r s e , reduce t o each
o t h e r . However, t h i s t r a n s i t i o n i s n o t always t r i v i a l ana i t w i l l
be c o n s i d e r e d f u r t h e r . The f o r m a l r e ~ r e s e n t a t i o nof t h e k i n e m a t i c
e q u a t i o n s o b t a i n e d i n t h e p r e c e d i n g paragraph i n t h e g e n e r a l
form o f t h e m i l l t i p l i c a t i o n of two o p e r a t o r s ( t h e t r a r i s f o r m a t i o n
o p e r a t o r and t h e a n g u l a r v e l o c i t y o p e r a t o r ) p e r m i t s one t o e a s i l y
extend t h e r e s u l t s o b t a i n e d f o r q u a t e r n i o n s t o t h e c a s e of any
kinematic parameters.

We w i l l c o n s i d e r t h e k i r ~ e m a t i ce q u a t i o n s f o r t h e q u a t e r n i o n
mapping d e s c r i b e d i n t h e form ( 3 . 1 1 ) and ( 3 . 1 2 ; , wilere t h e
q u a t e r n i o n s UE and o , a r e s p e c i f i e d a s f u n c t i o n s of time. I n s c a l a r
form, each of t h e s e e q u a t i o n s i s a system of f o u r l i n e a r
d i f f e r e n i i a l e q u a t i o n s (3.23) and ( 3 . 2 4 ) . The c o e f f i c i e n t s of
t h e s e Equations a r e t h e p r o j e c t i o n s oi of t h e a n g u l a r v e l o c i t y vec-
t o r o n t o t h e body b a s i s o r t h e p r o j e c t i o n s Ri o n t o t h e f i x e d b a s i s ,
s i n c e , i n t h e g e n e r a l c a s e , t h e c o e f f i c i e n t s of t h e e q d a t l o n s
a r e s p e c i f i e d functions of time.

I n accordance w i t h t h e g e n e r a l t h e o r y of l i n e s r
d i f f e r e n t i a l e q u a t i o n s 1401, one can e x p e c t t h a t t h e r e must -
/12 3
e x i s t a system o f f o u r l i n e a r l y independent s o l u t i o n s forming
t h e fundamental system o f s o l u t i o n s of t h e s e e q u a t i o n s The
fundamental systern can be o b t a i n e d from t h e s o l u t i o n s f o r which,
f o r example, t h e b a s i s v e c t o r s o f t h e four-dimensional s p a c e H
a r e t a k e n a s t h e i n i t i a l v a l u e s , i . e . , t h e v e c t o r s (1, 0 , 0 , O ) ,

With t h e h e l p of t h e fundamental system, one can c o n s t r u c t t h e

g e n e r a l s o l u t i o n of t h e k i n e m a t i c e q u a t i o n s Ln t h e form of a l i n e a r
combination of t h e l i n e a r l y independent s o l u t i o n s ( t h e i r number
must correspond t o t h e d i m e n s i o n a l i t y o f t h e s p a c e H). However,
t h e o p e r a t o r r e p r e s e n t a t i o n of t h e k i n e m a t i c Equations (3.11) and
(3.12) i n t h e form of t h e p r o d u c t of t h e unknown q u a t e r n i o n
and t h e a n g u l a r v e l o c i t y q u a t e r n i o n p e r m i t s one t o f i n d t h e
g e n e r a l s o l u t i o n o f t h e k i n e m a t i c e q u a t l o n s i n a n o t h e r form. T h i s
s o l u t i o n i s determined by t h e f o l l o w i n g theorem.

Theorem 3.1. Let t h e k i n e m a t i c e q u a t i o n b e s p e c i f i e d i n

t h e f i r s t (3.11) o r second (3.12) form f o r t h e q u a t e r n i o n d e s c r i b -
i n g t h e r i g i d body motion f c r a g i v e n f u n c t i o n of t i n e oi(t) o r
mE(t), and l e t one s o l u t i o n of t h i s e q u a t i o n N(t) be known. Then,
t h e quaternion:
i s t h e s o l u t i o n of t h e E q u z t i o n ( 3 . 1 1 ) and t h e q u a t e r n t o n :

i s t h e s o l u t i c n of E q u a t i o n ( 3 . 1 2 ) where CE and CI a r e c o n s t a n t
q u a t e r n i o n s . The q u a t e r n i o n s ( 3 . 6 2 ) and ( 3 . 6 3 ) a r e t h e g e n e r a l
s o l u t i o n s of t h e E q u a t i o n s ( 3 . 1 1 ) and ( 3 . 1 2 ) i n t h e s e n s e t h a t
any s o l u t i o n of t h e s e e q u a t i o n s s a t i s f y i n g t h e r e q u i r e d i n i t i a l
c o n d i t i o n s a r e o b t a i n e d from ( 3 . 6 2 ) and ( 3 . 6 3 ) w i t h a correspond-
i n g s e l e c t i o n of t h e c o n s t a n t s CI o r CE.

The p r o o f of t h i s theorem i s o b t a i n e d d i r e c t l y by s u b s t i t u t i n g
t h e s o l u t i o n s ( 3 . 6 2 ) ~ n d( 3 . 6 3 ) i n t o t h e i n i t i a l E q u a t i o n s ( 3 . 1 1 )
and ( 3 . 1 2 ) . Here, it s h o u l d be t a k e n i n t o account t h a t t h e
d e r i v a t i v e s o f t h e q u a t e r n i o n p r o d u c t s t a k e t h e u s u a l form: / 124

To f i n d t h e s o l u t i o n c r E q u a t i o n ( 3 . 1 1 ) s a t i s f y i n g t h e i n i t i a l
v a l u e A E O , it i s n e c e s s a r y t o choose t h e f o l l o w i n g v a l u e s of t h e
c o n s t a n t q u a t e r n i o n s CE:
AH=AE(O)=C~ON~

from which:

and t h e s o l 7 - t i o n ( 3 . 6 2 ) t a k e s t h e form

he (t) 5 hm 0 1if0 N (0-

0

By a n a l o g y , t h e s o l u t i o n of t h e e q u a t i o n ( 3 . 1 2 ) s a t i s f y i n g
the i n i t i a l condition Ajo i s o b t a i n e d i n t h e form:
A, (t) =N (t) 0 Ro 0 Am (3.65)
 One can s e e t h a t fla0N(t) i s t h e s o l u t i o c of Ec.uation ( 3 . 1 1 )
s a t i s f y i n g t h c i n i t i a l c o n d i t i o n ( 1 , 0 . 0 , 0 ) i n p r e c i s e l y t h e same
way as N ( ~ ) ~ Rf o, r Euuation ( 3 . 1 2 ) s a t i s f i e s t h e same i n i t i a l
c o n d i t i o n . The s o l u t i o n s ( 3 . 6 2 ) and ( 3 . 6 3 ) o r t h e same i n t h e
forni ( 3 . 6 4 ) and ( 3 . 6 5 ) , a r e unique s o l u t i o n s s a t i s f y i n g t h e
given i n i t i a l conditiocs . T h i s f o l l o w s from t h e unique ~ r s o r e r . ,
s i n c e lVi(t)= 0 (i = 0, 1,2,3) a r e a l s o s o l u t i o n s o f t h e k i n e m a t i c equa-
tions.

Let us proceed t o a d 2 s c u s s i o n o f t h e theorem. Equations

(3.11) and. (3.12) a r e f o r m a l l y l i n e a r e q u a t i o n s o f f ! r s t o r d e r ,
i f one proceeds from t h e q u a t e r n i o n a l g e b r a ( i .e . , i f one
asscmes t h e p o s s i b i l i t y of performing t h e o p e r a t i o n s of l i n e a r
a l g e t ?a on t h e s e t of q u a t e r n i o n s ) . Thus, i t i s q u i t e n a t u r a l
t h a t t h e i r g e n e r a l s o l u t i o n s e--e w r i t t e n i n tl-e form ( 3 . 6 2 ) and
( 3 . 6 3 ) : ic t h e form o f a p a r t i c u l a r s o l u t i o n m u l t i p l i e d by a
constant (quaternion).

I f one assumes t h e q u h t e r n i ~ n sh b ~ i ) i . ~ t a n t st ,h e n one c a n

s e e t h a t t h e i n i t i a l c o n d i t i o n s (1, 0, 0, O ) , (0,1,0, 0). (0,3, 1, 0) and
(0. 0, 0, 1) w i l l no l o n g e r be l i n e a r i y i n d e p e n d e n t , i . e . , t h e s o l u -
t i o n s determined b y them w i l l a l s o be c i e p e ~ d e n t . T h i s f a c t
shows t h a t t h e k i n e m a t i c eqv.ations have one fundamental s o l u t i o n . / I 2 5

On t h e o t h e r hand, i t i s n o t d i f f i c u l t t o show t h a t one can

a r r i v e st t h e same c o n c l u s i o n a s a r e s u l t o f anal.yzing t h e
s c a l a r Equations ( 3 . 2 3 ) and ( 3 . 2 4 ) . OrAe can u s e , f o r example,
the representation * of t h e b a s i s v e c t ~ r sof t h e hy2ercalllpiex space
i n t h e form of t h e f o l l o w i n g 4 x 4 m a t r i c e s :

* Such a correspondence i s isomorphic.

Ic t h i s c a s e , t h e p a r t i c u l a r s o l u t i o n c o n s i d s r e d above s a t i s f y i n g
t h e i n i t i a l c o n d i t i o n s 0,0,0,0) w i l l correspond t o t h e funda-
mental system o f s o l u t i o n s h a v i n g t h e m a t r i x 1 as t h e i n f t i a l
matrix.

Let us c o n s i d e r t h e p h y s i c a l z e a n i n g of t h e o b t a i n e d g e n e r a l
s o l u t i o n . We x i 1 1 always assume t h a t b o t h forms o f t h e k-;nematic
e q u a t i o n s d e s c r t b e t h e same r i g i d body motion. W e note first
tha* t h e s o l u t i o n AE (3.64) does n o t s a t i s f y t h e Equatfon ( 2 . 1 2 )
because, by s u b s t i t u t i n g t h e s o l u t i c m A ~ E i n t o t h i s e q u z t i c n , w e
obtain :

-
and, s i n c e ~ l = N o w ~ o N, t h e n it i s e v i d e n t t h a t t h e o b t a i n e d
e q u a l i t y can b e s a t i s f i e d i f one o f t h e q u a t e r n i o n s i s z e r o , o r
i f a l l o f them a r e c o l i n e a r , o r i f ~ r , - % o = l , which i s n o t p o s s i b l e
i n t h e g e n e r a l case. I n p r e c i s e l y t h e same manner, t h e s o l u t i o n
(3.65) does n o t s a t i s f y , i n t h e g e n e r a l c a s e , Equation ( 3 . 1 1 ) .
Hence, one can conclude t h a t each of t h e k i n e m a t i c e q u a t i o n s
(3.11 ) and (3.12) h a s i t s own s e t o f s o l u t i o n s A E ( ~ )and Al(t), /12 6 -
which a r e determined uniquely by t h e i r own i n i t i a l c o n d i t i o n s .

A s was j u s t shown, t h e s e t s A E ( ~ )and AIV) do not c o i n c i d e ,

i . e . , t h e elements o f A E ( ~ ) i n t h e g e n e r a l c a s e do n o t s a t i s f y
Equation ( 3 . 1 2 ) , and . h r ( i ) - Equation ( 3 . 1 1 ) . It a p p e a r s t h a t t h e
f o l l o w i n g theorem i s v a l i d .
131
 Theorem 3.2. Thc s e t s of t h e s o l u t i o n s cf (3.62) and (3.63)
f o r t h e sane r i g i d body motion i n t e r s e c t a t one and only one p o i n t ,
Lhis solutior? belonging t 9 both sets i s t h e s o l u t i o n N ( t ) .

Actually, t h e f a c t t h a t N(t) s a t i s f i e s both forms o f t h e

equations was a s s m e a from t h e very beginning. Conversely: each
p a r t i c u l a r s o l u t i o n obtained from t h e g e n e r a l s o l u t i o n (3.62) c r
(3.63) i s determined by t h e i n i t i a l conditions. The s o l u t i o n
(3.62) then s a t i s f i e s Zquation (3.12) only f o r t h e n a t u r a l i n i t i a l
condition:
b . 0 R.= 1.

I n e x a c t l y t h e same way, one can v e r i f y t h a t t h e s o l u t i o n (3.63)

s a t i s f i e s Zquation (3.11) f ~ r :

R,*b= 1,
and m d e r t h e s e conditions, t h e quatc-mion N ( t j i s t h e s o l u t i o n
of (3.62) and (3.63).

The p h y s i c a l meaning of t h e
g e n e r a l s o l u t i o n s A E ( ~ ) and A,Q

<&
Figure 3.4.
3 0

E'
i s explained i n Figure 3.4, i n
which each basis i s c o n d i t i o n a l l y
represented by a v e c t o r . The
quaternion N ( t ) gives t h e t r a n s i -
t i o n from t h e basis I t o t h e b a s i s
E and thereby d e s c r i b e s t h t motlon
of t h e b a s i s E r e l a t i v e t o t h e basis
I , which r e s u l t s because of t h e angular v e l o c i t y or. This motion can
be observed from t h e b a s i s I; t h i s motion corresponds t o Equation
(3.12). Cbviously, t h e motion of any o t h e r coordinate system - /12?
E' r o t a t i n g r e l a t i v e t o I w i t h t h e same angle v e l o c i f y ra w i l l be
observed from t h e b a s i s I i n e x a c t l y t h e same way, s i n c e t h i s
motion i s c h a r a c t e r i z e d by t h e same p r o j e c t i o n s c f t h e v e c t o r
onto t h e b a s i s I ( i . e . , by t h e quaternion w,.). Since t h e motion
of t h e b a s e s E and E' o c c u r s ~ : l t 5t h e same a n g u l a r v e l o c i t y
r e l a t i v e t o t h e b a s i s I, t h e i r r e l a t i v e p o s i t i m w i l l n o t
change and can be s ~ e c i f i e dby t h e c o n s t a n t q u a t e r n i o n CI.
T h u s , t h e g e n e r a l s o l u t i o n (3.63) c o r r e s p o n d s t o t h e d e s c r i p t i o n
of t h e m ~ t i o no f an a r b i t r a r y b a s i s E r e l a t i v e t o t h e b a s i s I
observed from t h e b s s i s I 2r.d s p z c i f i e d by t h e f u n c t i o n W ( t ) .
By analogy t o t h i s c a s e , t h e g e n e r a l s o l u t i o n (3.52)
corresponds t o t h e motion of t h e b a s i s E d e s c r i b e d n o t only
r e l a t i v e t o t h e reference b a s i s I but r e l a t i v e t o m y o t h e r
b a s i s I * r o t a t e d r e l a t i v e t o t h e b a s i s I by a c o n s t a n t a n g l e
determined by t h e quatern:on CE. The o b s e r v a t i o n of t h e ~ ; t : ~ : i
t h e n o c c u r s from t h e body b a s i s E; t h i s c o r r e s p o n d s t o t h e
Equation (3.11), s i n c e f o r o b s e r v a t i o n from t h e b a s i s E t h e
mction i s c h a r a c t e r i z e d b y t h e p r o f e c t i o ~ so f t h e a n g u l a r
v e l o c i t y v e c t o r a, z n t o t h e b a s i s E, i - e . , by t h e q u a t e r n i o n * E -

Obviously, t h i s motion a p p e a r s t h e same, r e l a t i v e t o any

f i x e d r e f e r e n c e b a s i s I:. One s h o u l d n o t f o r g e t t h a t what i s
being c o n s i d e r e d i s t h e motfon o f t h e b a s e s E and E' r e l a t i v e t o
t h e b a s e s I and It,which o c c u r s w i t h t h e same s p e c j f i e d
v e l o c i t y dl). Z i t h e r of the generai s o l s t i o n s A ~ f t ) o r.\,(t)
s a t i s f i e d one form of t h e Equation (3.11) o r ( 3 . 1 2 ) ; b a t h forms
of t h e e q u a t i o n s , i n accordance w i t h theorem 3.2, a r e s a t i s f i e d
by t h e unique s o l u t z o n N ( t ) .

Let u s f i n d t h e second form of t h e k i n e m a t i c e q u a t i o n f o r

motions d e s c r i b e d by %he f u n c t i o n s h ( t ) and .
We COR-
s i d e r t h e s o l u t i o n A&) s a t i s f y i n g t h e Equation (3.12) :

Obviously, t h e seond form o f t h i s e q u a t i o n d e s c r i b i n g t h e motion

o f t h e b a s i s E' r e l a t i v e t o t h e b a s i s I w f l l be t h e e q u a t i o n
c o n t a i n i n g t h e p r o j e c t i o n of t h e a n g u l a r v e l o c i t y v e c t o r a
onto t h e b a s i s E' , i . e . , t h e q u a n t i t y cur. The mapping
of t h e v e c t o r o onto t h e b a s i s E' i s d e f i n e d by t h e r o t a t i o n
operation:
-
or= hro*r*Ah,

from which w e o b t a i n t h e second form o f t h e e q u a t i o n f o r t h e

motion AIM:

By analogy, w e s l s o have two forms o f t h e e q u a t i o n f o r t h e

q u a t e r n i o n &(t) .

whare O ~ = A E O @ E ~ ~i s~ Ed e f i n e d by t h e -\rejections o f t h e v e c t o r o
o n t o t h e b a s i s 1'. By s u b s t i t u t i n g q u a n t i t i e s h r a n d A o from
(3.63) and (3.62) f o r or and H e i n t o b t a i n e d r e l a t i o n s , we
have :
-
up=
ar=Cf
~ I o R o ~ l o N o ~C
- O~~OCI, I =~

ON*O~ONOC~=CEOOIOCL. 1 (3.68) -

which s a t f s f i e s t h e known r u l e s f o r p r o j e c t i n g a f i x e d v e c t o r .
Hence, t h e i n t e r p r e t a t i o n of theorem 3.2 f o l l o w s :

If two s e r i e s o f t i m e f u n c t i o n s * ( t ) and aE(t) d e f i n e d by t h e

p r o j e c t i o n s of t h e v e c t o r m(t) onto t h e b a s e s I and E a r e g i v e n ,
then t h i s i t s e l f uniquely determines t h e i n i t i a l p o s i t i a n of
t h e s e two b a s e s . On t h e o t h e r hand, i f one form of t h e e q u a t i o n s
d e f i n i n g t h e p r o j e c t i o n quaternron o f t h e a n g l e v e l o c i t y v e c t o r
r ( t ) and t h e i n i t i a l p o s i t i b n of t h e b a s i s I and E a r e g i v e n ,
t h e n t h i s i t s e l f uniquely s p e c i f i e s t h e second form o f t h e kine-
matiz e q u a t i o n .

The r e l a t i o n s (3.681, a s w e l l a s Equations (3.66) and ( 3 . 6 7 ) ,

s e r v e a s an example of such a r e l a t i o n . Hence, i t a l s o follows
t h a t t h e s o l u t i o n A ( t ) s a t i s f y i n g t h e two g i v e n forms o f t h e kinema-
t i c e q u a t i o n s ( g i v e n i n t h e s e n s e t h a t t h e a c t u a l form o f t h e
f u n c t i o n s w i ( f ! and Q i ( t ) , t h e p r o j e c t i o n o f t h e a n g u l a r v e l ~ c i t y
v e c t o r o n t o t h e r e f e r e n c e and body b a s e s a r e d e f i n e d ) i s u n i q u e ,
s i n c e t h e i n i t i a l c o n d i t i o n s of' t h i s e q u a t i o n a r e u n i q u e l y d e f i n e d .

One s h o u l d keep i n mind t . h a t one o f t h e f u n c t i o n s o ~ ( t )a n d

c * r ( * ) can b e a r b i t r a r y and u n i q u e l y d e t e r m i n e s t h e a n g u l a r ~ e l o c i t y

v e c t o r . However, b o t h o f them r e l a t e d by t h e r e l a t i o n ( 3 . 1 3 )
of t h e o r t h o g o n a l t r a n s f o r m a t i o n , which i s n o t a r b i t r a r y b u t i s
d e t e r m i n e d by t h e s o l u t i o n o f t h e k i n e m a t i c e q u a t i o n i n one o f t h e
two fc-hs.

The i n v e s t i g a t i o n s c a r r i e d o u t h e r e p r e m i t one t o prove

a n o t h e r theorem r e l a t e d t o b r c a d e n i n g t h e p a r t i c u l z r s o l u t i o n t o
o t h e r c a s e s o f motion. According t o theorem 3.1, one can f i n d
d i f f e r e n t s o l u t i o n s f o r t h e g i v e n e q u a t i o n , i n which Q ~ oI r M E
are s p e c i f i c f u n c t i o n s o f t i m e , from one known p a r t i c u l a r s o l u t i o n .
how eve^, i n s e v e r a l c a s e s t h i s p a r t i c u l a r s o l u t i o n p e r m i t s one t o
f i n d a s o l u t i o n f o r o t h e r @f(t) o r ( J E ( ~ ) ; t h e s e s o l u t i o n s a r e
d e t e r m i n e d by t h e f o l l o w i n g theorem.

Theorem 3 . 3 . Let N ( t ) b e t h e s o l u t i o n cf t h e kinemat.ic

.
e q u a t i o n f o r motiori w i t h t h e a n g u l a r v e l o c i t y ~ ( 1 ) I n t h i s
c a s e , f o r motion w i t h t h e a n g u l a r v e l o c i t y o'V) o b t a i n e d frcm
er(i) by t h e o r t h o g o n a l t r a n s f o r m a t i o n :

~'==SoaeS,
(3.69)
where S i s a c o n s t a n t q u a t e r n i o n , t h e r e e x i s t s t h e p a r t i c u l a r
s o l u t i o n o b t a i n e d as :
and s a t i s f y i n g t h e e q u a t i o n :

We have e n c o u n t e r e d p a r t o f t h e r e s u l t s o f t h i s theorem
i n t h e i n v e s t i g a t i o n s o f t h e second forms o f t h e e q u a t i o n s f o r
t h e g e n e r a l s o l u t i o n s . i r ( t ) and Ar(t)(cf. 3.66) and ( 3 . 6 7 ) ; i n
t h i s c a s e , t h e q u a t e r n i o n s w a n d cur. were p r e s e n t i n t h e e q u a t i o n s .
The s o l u t i o n s f o r t h e s e a n g u l a r v e l o c i t y q u a t e r n i o n s a r e , i n t u r n ,
a l s o s o l u t i o n s f o r t h e a n g u l a r v e l o c i t y , which h a s t h e mapping
o n t o t h e b a s i s I e q u a l i n g @ I * , a s w e l i as f o r t h e o t h e r a n g u l a r
v e l o c i t y whose mapping c n t o t h e b a s i s E i s ar.

Wc c a r r y o u t t h e p r o o f o f >heorem 3.3 f o r t h e u n i q u e s o l u t i o n
s a t i s f y i n g t h e two g i v e n forms f o r t h e k i n e m a t i c E q u a t i o n ( 3 . 1 1 )
and ( 3 . 1 2 ) : /130
!L\=o~,oA=Aom~.

Obviously, i f t h e a n g u l a r velocit:: o'is o b t a i n e d f r a m o by t h e

t r a n s f o r m a t i o n (3.691, t h e n t h e mappings o n t o t h e b a s e s I and E
l i n k o r and 5y t h e s a l e r e l a t i o n s . A c t u a l l y , i f a, c o i n c i d e s
w i t h c*, t h e n @; a l s o c o i n c i d e s w i t h J, i . e . :
I -
eB;=So@,oS,
- o;=S~d)~Oa

By s u b s t i t u t i n g ( 3 . 6 9 ) and ( 3 . 7 0 ) i n t o Z q u a t i o n (3.31) we o b t a i n :

from which i t i s o b v i o u s t h a t N f s a t i s f i e s t h e f i r s t form o f t h e

equatian.

Y e w i l l show t h a t N 1 a l s o s a t i s f i e s t h e second form o f t h e

e q u a t i c n . Obviously, i t i s n e c e s s a r y i n t h a t one h a s t h e
relation : ...
a;=A'od);oA',
which i s o b t a i n e d f o l l o w i n g r e l a t i o n s :

We n o t e t h a t t h e s o l u t i o n N t (t) s a t i s f i e s t h e same i n i t i a l
c o n d i t i c n ( t h e r e l a t i v e p o s i t i o n o f t h e b a s e s ) a s N ( t ) . The
p h y s i c a l meaning of t h e theorem i s r a t h e r simple: t h e r e l a t i v e
a n g u l a r v e l o c i t y v e c t o r d t ) can be r o t a t e d by a c o n s t a n t a n g l e
i n t o a d i f f e r e n t p o s i t i o n i n t h e b a s e s I and E. The corresponding
s o l u t i o n s (3.70) t h e n d i f f e r by a c o n s t a n t ~ u a t e r n i o n .

I n c o n c l u s i o n , l e t us i n d i c a t e a n o t h e r important p r o p e r t y of
t h e kinematic e q u a t i o n :

The kinematic e q u a t i o n f o r a given v e c t o r f ~ m c t i o nof t h e

a n g u l a r v e l o c i t y v e c t o r @ ( t ) can b e reduced t o t h e kinematic
equation with t h e u n i t angular velocity vector:

Such a p o s s i b i l i t y follows from t h e uniqueness o f t h e kine-

matic e q u a t i o n ; f o r t h i s , it i s necessary t o make a s u b s t i t u t i o n
i n Equations (3.11) and (3.12) o f t h e independent v a r i a b l e :

and i n accordance w i t h t h i s , t o r e p l a c e t h e argument according

t o the relation:
t
- = J @ (t)dt = a)(t),
0
t =m-' (T).

BY s u b s t i t u t i n g ( 3 . 7 2 ) and (3.73) i n t o t h e kinematic Equations

(3.11) and ( 3 . 1 2 ) , we o b t a i n them i n t h e form:
Here 9116) and a r e u n i t v e c t o r s s i n c e t h e l e n g t h (norm)
of t h e v e c t o r does n o t change w i t ? t h i s p r o j e c t i o n o n t o d i f f e r e n t
b a s e s , i . e . , \@II=@ and larI=".

The r e p r e s e n t a t i o n o f t h e k i n e m a t i c e q u a t i o n s i n t h e form
(3.74), where t h e a n g u l a r v e l o c i t i e s a r e u n i t v e c t o r s , can some-
t i m e s be convenient f o r t h e i r s o l u t i o n .

The p r o p e r t i e s o f t h e k i n e m a t i c e q u a t i o n s c o n s i d e r e d ir, t h i s
paragraph a r e g e n e r a l and r e m a i ~v a l i d f o r any k i n e m a t i c p a r a m e t e r s .
T h i s r e s u l t f o l l o w s d i r e c t l y f r ~ mt h e g e n e r a l o p e r a t o r form o f t h e
kinematic e q u a t i o n s , i d e n t i c a l t o E q u a t i o n s (3.11) and ( 3 . 1 2 )
o b t a i n e d i n paragraph 3.3. Thus, a l l t h e c o n c l u s i o n s r e a c h e d can
be r e p e a t e d v e r b a t i x f o r any k i n e m a t i c e q u a t i o n .

5 3.5. PARTICULAR SOLUTIONS OF THE KINEMATIC EQUATIONS

I. Various methods f o r r e p r e s e n t i n g a q u a t e r n i o n were

c o n s i d e r e d i n t h e f i r s t c h a p t e r and it was shown, i n p a r t i c u l a r ,
t h a t any q u a t e r n i o n can be r e p r e s e n t e d by an a r c on t h e s p h e r e
[ c f . (1.11)]. I n visw of t h e f a c t t h a t i n t h i s r e p r e s e n t a t i o n
t h e u n i t v e c t o r of t h e q u a t e r n i o n p l a y s t h e r o l e of t h e imaginary /132
u n i t , i . e . , C o b = -1 , by analogy t o t h e w e l l known E u l e r formula
f o r complex numbers, t h e f o l l o w i n g r e p r e s e n t a t i o n o f q u a t e r n i o n s
i s p o s s i b l e *:

Obviously, t h e c o n j u g a t e q u a t e r n i o n s a t i s f i e d t h e r e l a t i o n :

-
A = c 0 s Tv- C 6--e - k T ,e
sillT-

* The p o s s i b i l i t y o f such a r e p r e s e n t a t i o n was i n d i c a t e d by Hankel

C121
and t h e de Moivre formula c o n s i d e r e d i n paragraph 1 . 2 w i l l have
t h e forr:~,w i t h t h e u s e of such a r e p r e s e n t a t i a n :

However, such a convenient r e p r e s e n t a t i o n o f a q u a t ~ r n i o n

i n t h e f ~ r mof an e x p o n e n t i a l f u n c t i o n o f a v e c t o r , whose
l e n g t h i s determined by t h e r o t a t i o n a n g l e , h a s n o t found wide
c i r c u l a t i o n , a s h a s o c c u r r e d , f o r example, i n t h e c a s e o f complex
numbers. The p o i n t i s t h a t t h e product of two q u a t e r n i o n s
cannot b e r e p r e s e n t e d , i n t h e g e n e r a l c a s e , i n t h e form o f an
e x p o n e n t j a l f u n c t i o n whose exponent i s t h e sum o f t h e exponents
o f t h e components:

T h i s can be v e r i f i e d i f only t h e f a c t t h a t t h e sum o f t h e

v e c t o r s i n t h e exponent 1 3 commutative, i . e . :
@ v* a 61
?ij+6zT=6zT+tT.

and t h i s must reduce uniquely t o t h e p o s s i b i l i t y of

permuting t h e q u a t e r n i o n f a c t o r s , which i s n o t p o s s i b l e i n
general.

We perform t h e m u l t i p l i c a t i o n o f t h e r u a t e r n i o n s by / 133
r e p r e s e n t i n g t h e i r o p e r a t i o c s i n t h r e e - d i m e n s i o n a l s p a c e (1.9) :

A, 0 A, = (cos 3+ {, sin -+)

0
0 (coo 6, +6, tinT)a* =
= ~ s ~ c o s .~6 r-s.~~na,T, ~ i n6,T + & s i n -612 - ~ ~ ~ T +
2
+ h sin ~a2 c o-
61
2
s +6, X G sin sin^
v9
(3.77)

One can s e e t h a t t h e o p e r a t i o n s of q , l a t e r n i o n m u l t i p l i c a t i o n
l e a d t o t h e a d d i t i o n of t h e exponents only i n two c z s e s .
 a ) The v e c t o r s tl-and c2 are colinear. A s i s s e e n from (3.771,
we have f o r 6 ~ = 6 2 = t :

Geometrically, t h i s c a s e corresponds t o t h e a d d i t i o n o f t h e a r c s
of t h e same g r e a t c i r c l e ; o b v i o u s l y , t h i s a d d i t i o n c o r r e s p o n d s
a l s o t o t h e a d d i t i o n o f c o l i n e a r v e c t o r s , whose l e n g t h i s
defined a s proportional t o t h e a r c angle.

b) The a n g l e s 61 and ff2 a r e i n f i n i t e s i m a l quantities. A s

f o l l o w s from ( 3 . 7 7 ) , i n t h i s c a s e t h e product sin $sinFI9 I92
=- *I*,
4
i s a second o r d e r q u a n t i t y , t o :ihich t h e f o l l o w i n g r e l a t i o n i s
satisfied:
a
1 * , -
6 l61T + b *z~ -- ~ T , , ~ ' T =
~ 1 1 0 A 2 ~ 1 f

It was r n d i c a t e d previous1.y [ c f . (3.8)] t h a t f o r infinitesimal

a n g l e s t h e p r o d u c t of q u a t e r n i o n s g i v e s t h e v e c t o r sum c f
i n f i n i t e s i m a l r o t a t i o n v e c t o r s . G e o m e t r i c a l l y , t h i s means t h a t
i n f i n i t e s i m a l a r c s on t h e s p h e r e add a s v e c t o r s (because f o r
s m a l l a r c s t h e s p h e r e d i f f e r s l i t t l e from t h e t a n g e n t p l a n e ) .
/I34
11. Let u s now c o n s i d e r t h e d e r i v a t i v e of t h e q u a t e r n i o n
r e p r e s e n t e d i n t h e form ( 3 . 7 5 ) . I n view of t h e f a c t t h a t t h e
q u a t e r n i o n d e s c r i b i n g r i g i d bcdy motion i s a v a r i a b l e , t h e
q u a n t i t i e s 5 and ~ w i l l a l s o be f u n c t i o n s o f t i m e . According t o
t h e d e f i n i t i o n of t h e d e r i v a t i v e , we have:

The exponent o f t h e f i r s t e x p o n e n t i a l f u n c t i o n can be expanded i n

the series:
+
t (t+ At)0 (t+ At) =k ( t )e (f) f (1)13 V) At +
+ 6 (4 % (f)At + 0 (At).
 Nonetheless, as was shown above, i t i s i n p o s s i b l e t o
r e p r e s e n t , i n t h e g e n e r a l c a s e , an e x p o n e c t i a l f u n c t i o n o f a sum
i n t h e form o f the product o f e x p o n e n t l a l f u n c t i o n s . Obviously,
t h i s i s p o s s i b l e only i n t h e c a s e when t h e v e c t o r 5 i s constant
one can s e e t h a t f o r t h i s :

The d e r i v a t i v e o f such a q u a t e r n i o n w i l l e q u a l :

1
c 16~ i r ( ~ t j i I
= lim
At+O -rA
-1 -to(t)
oet .
One can v e r i f y t h a t :

Ltlb~t+o(btbl
eS -1 I
lim
At+@ ht

[ f o r example, by r e p r e s e n t i n g t h e e x p o n e n t i a l f u n c t i o n i n t h e /135
form o f an expansion i n s i n e s and c o s i n e s (3.75)J. With c o n s i d e r a -
t i o n of t h i s , we o b t a i n f i n a l l y :

T h i s r e l a t i o n i n d i c a t e s t h a t i n t - l e c a s e , when t h e f i n i t e r o t a t i o n
v
v e c t o r 0=2&tgT h a s a c o n s t a n t d i r e c t i o n , t h e d 2 r i v a t i v e of t h e
q u a t e r n i o n can b e r e p r e s e n t e d i n t h e form of t h e p r o d u c t of t h e
d e r i v a t i v e of t h e exponent ( 3 . 7 5 ) and t h e q u a t e r n i o n i t s e l f :
 Here t h e p e r m u t a t i u n of t h e f a c t o r s i s p o s s i b l e , s i n c e t h e
q u a t e r n i o n s 5 andh have c o l i n e a r v e c t o r p a r t s .

By comparing t h e r e l a t i o n (3.78) w i t h t h e k i n e m a t i c Equations

(3.11) and ( 3 . 1 2 ) , one can s e e t h a t :
I
-tb
N (t)=eP (3.79)

i s a s o l u t i o n o f t h e kinematic e q u a t i o n i n t h e c a s e when t h e
angular v e l o c i t y vector has a const ant d i r e c t i o n , then :

(f)=bo (I) = 68 (f). (3.80)

The p a r t i c u l a r s o l u t i o n (3.'79j must d e f i n e a l l s o l u t i o n s o f

t h e k i n e m a t i c e q u a t i o n s f o r a g i v e n c a s e o f motion. If t h e angu-
l a r v e l o c i t y v e c t o r i s s p e c i f i e d w i t h t h e h e l p of i t s p r o j e c t i a n s
onto t h e b a s i s I , t h e n t h e q u a t e r n i o n i s thereby s p e c i f i e d :

s i n c e only t h e d i r e c t i o n c o s i n e s o f t h e u n i t v e c t o r , and n o t i t s
l e n g t h , a r e changed i n t h e p r o j e c t i o n . I n accordance w i t h
theorem 3 . 1 , formula ( 3 . 7 9 ) determines t h e g e n e r a l s o l u t i o n of
t h e E q u a t i o ;3.12) i n t h e form:

A, (t) =e2
' t,bt"
0 CI.

By analogy, i f t h e v e c t o r s a r e s p e c i f i e d with the help

o(t) /I36
of i t s p r o j e c t i o n s i n t h e body b a s i s E, t h e g e n e r a l s o l u t i o n
of t h e k i n e m a t i c Equation ( 3 . 1 1 ) i s o b t a i n e d i n t h e form:

Y
t
Now l e t t h e k i n e m a t i c e q u a t i o n s d e s c r i b e t h e mot:on of t h e
1;;/.
r.
$
b a s i s E r e l a t i v e t o t h e b a s i s I o c c u r r i n g w!.th t h e given a n g u l a r
8.
i,5 v e l o c i t y ( 3 . bO), t h e i n i t i a l p o s i t i o n of t h e b a s i s E being
8,
$.
g 14 2
determined by t h e q u a t e r n i s n CI. S i n c r t h e magnitude of t h e
r o t a t i o n ar.gle 6 ( t ) , a c c o r d i n g t o ( 3 . 8 0 ) , e q u a l s [ c f . a l s o (3.60)]:
1 t
e (i)= 1a
0
(ft) gdft= J
6
(if)dit*

t h e n a t t h e i n i t i a l noment 8(0)=0.

L e t us f i n d t h e form of t h e s o l u t i o n s (3.82) and ( 3 . 8 1 ) f o r

t h i s c a s e of motion; obviously, t h e e q u a l i t y :
AE (0= AI (i).
must be s a t i s f i e d . We have a t t h e i n i t l a 1 moment:

from which t h e s o l u t i o n ( 3 . 8 2 ) must have th<, form:

I
A ~ = C l o e2 're .
Hence, i t f o l l o w s t h a t AI w i l l e q u a l ,E i f and only i f t h e
following r e l a t i o n i s s a t i s f i e d :

e x a c t l y t h e same a s :

i.e., t h e form of w a n d OE 2nd of t h e two fcrms of t h e h i n e m a t i c

e q u a t i o n i s determined only b y t h e i n i t i a l c o n d i t i o n s .
--
/ 137
I n t h e c a s e when CI = 1, t h e s o l u t i o n under c o n s i d e r a t i o n
becomes t h e p a r t i c u l a r s o l u t i o n N ( t ) ( 3 . 7 9 ) ; i f t h e q u a t e r n i o n
CI i s a l s o d i r e c t e d a l o n g t h e v e c t o r 5 , i . e . , t h e r e p r e s e n t a -
tion:
c1
I
- e?T ",
 i s p o s s i b l e , t h e n we have t h e s o l u t i o n ( 3 . 8 1 ) i n t h e form:

which s a t i s f i e s t h e i n i t i a l c o n d i t i c n o f t l e p h a s e s h i f t t y p e .
The example u n d e r , . x ~ s i d e r a t i o nw e l l e x p l a i n s t h e c o n t e n t o f t h e
theorems o f t h e p r e c e d i n g p a r a g r a p h .

We i n d i c a t e a n o t h e r p o s s i b l e f o r m f o r r e p r e s e n t i n g t h i s
p a r t i c u l a r s o l u t i o n , when t h e a n g u l a r v e l o c i t y v e c t o r h a s a
constant d i r e c t i o n :

T h i s form i s o b t a i n e d from ( 3 . 79) w i t h c o n s i d e r a t i o r , o f

(3.83). P h y s i c a l l y , t h e c ~ c s i d e r e ds o l u t i o n r e p r e s e n t s f h e
s i m p l e c a s e o f ; > o t a t i o n i n one f i x e d p l a n e .

111. A c c o r d i n g t o t h e o r e m 3 . 3 , t h e s o i u t i o n f o r any o t h e r
c a s e o f m. t i o n w i t h a n a n g u l a r v e l o c i t y o b t a i n e d f r o n ~i-ieg i v e n
c o n s t a n t t r a n s f o r m a ~ i o ncan be o b t a i n e d from t h e kqown s o l u t i o n
of t h e k i n e m a t i c e q u a t i o n f o r t h e g i v e n a n g u l a r v e l o c i t y v e c t o r .
We w i l l t r y t o u s e s u c h an a p p ~ o a c hi n t h e c a s e o f an a r b i t r a r y
a n g u l a r ve l o c '
Obvious' a n g u l a r v e l o c i t y v e c t o r w can b e p r e s e , l t e d
i n t h i s form:

o (t)= S (t)C Co (1) 0 S (1) = o (t) S 0 g 0 S,

i.e., i n t h e f o r m o f a v a r i a b l e u n i t v e c t o r whose p o s l t i o n i s
d e t e r m i n e d by t h e q u a t e r n i o n S ( t \ and t h e t i m e f u n c t i o n ~ ( ' 1 .
The s o l u t i o r l f o r t h e c a s e o f t h e c o n s t a n t direction o f t h e angu-
l a r v e l o c i t y .recto? Go([) , which i s d e n o t e d by N ( t j was d e t e r -
,P mined above. L e t u s now f l n d how t h e s o l u t i o n o f t h e k i n e m a t i c
w e q u a t i o n f o r t h e m o t i o n of . l ( t ) w i t h t h e a n g u l a r v e l o c i t y w(l) d i f f e r s
P
,?
from t h e q u a n t i t y K ' = s = s ~ W ~e .w i l l c o n s l d e r t h e e q u a t i o n /138
i n p r o j e c t i o n s o n t o t h e r e f e r e n c e b a s i s I. The e q u a t i o n (3.12)
w i l l be t h e i n i t i a l e q u a t i o n ; l e t us f i n d what e q u a t i o n i s
s a t i s f i e d by t h e q u a t e r n i o n N'.

By d i f f e r e n t i a t i n g , w e o b t a i n :
r u ' = ~ o ~ o ~ + + o s o ~ - s o ~ o ~ o ~ o ~ .

Let t h e q u a t e r n i o n S ~ a t i s f yt h e e q u a t i o n :

By s u b s t i t u t i n g t h e e x p r e s s i o n f o r t h e d e r i v a t i v e i n t h e
e q u a t i o n s N 1 and t a k i n g i n t o account t h a t t h e q u a t e r n i c n N i s
determined by t h e e q u a t i o n :

we o b t a i n :
~N'=~(S.S)~S~K~S+S~~~~(~)ONO~-
- S ~ N ~ S ~ ( ~ S ~ S ) = ( Q ~ ~ N ' - N ' ~ Q I ) + ~(3.85)
I(~)ON'.
Hence, i t i s seen t h a t N 1 s a t i s f i e s t h e same e q u a t i o n
a s A ( t ) w i t h an accuracy up t o t h e t e r r n ~ ~ ~ ~ ' t-h ~e 's o~l u~t i~o n;
N' can always b e o b t a i n e d fr3m t h e krown s o l u t i o n N by t h e method
d e s c r i b e d . The c a s e o f Q l o y ' = ?(r"oQ, r e d u c e s to Q I = o , i . e . ,
S = c o n s t , which was a l s o c o n s i d e r e d i n theorem 3.3, o r t o t h e
requirement t h a t QI and v e c t N' a r e oarakkek,

IV. The r e l a t i o n (3.85) shows t h a t i n some c a s e s o f motion

t h e s o l u t i o n of t h e k i n e m a t i c e q u a t i o n can b.. o b t a i n e d i n t h e
form o f t h e product o f q u a t e r n i o n s , each o f u ~ i c hs a t i s f i e s t h e
s i m p l e r kinematic e q u a t i o n . Let us c o n s i d e r t h i s q u e s t i o r i n more
detail.

Let t h e kinematic e q u a t i o n (3.11) o r (3.12) b e g i v e n ; i t s

s o l u t i o n w i l l be found i n t h e form o f t h e product of two q u a t e r n -
ions : A=AloAs,
which c o r r e s p o ~ l d st o t h e a n g u l a r r e p r e s e n t a t i o n o f t h e unknown
t r a n s f o r m a t i o n i n t h e form o f two s u c c e s s i v e l y p e r f c r n e d t r a n s -
f o r m a t i c n s ( f o r example, t h e t r a n s i t i o n from t h e b a s i s I t o
t o t h e b a s i s I t , and t h e n t o t h e b a s i s El. by d i f f e r e n t i a t i n g
A we ftnd that :

The problem c o n s i s t s o f s e l e c t i n g t h e r e s o l u t i o n o f t h e
given arlgular v e l o c i t y :

i n t o components a11 a n d u ~ = . ? , o ~ , ~ os u~c,h, t h a t t h e s o l u t i o n i s

known f o r e a c h o f them. I n particular, i f a11 and WJ have con-
s t a n t d e r i v a t i v e s , t h e n t n e s o l u t i o n .\,(t) and A,(t) c a n b e o b t a i n e d
i n t h e form ( 3 . 8 4 ) . i?e n o t e t h a t a l t h o u g h e l l a n d o ~ w i 1 lllave
c o n s t a n t d i r e c t i o n s , t h e r e s u l t a n t v e l o c i t y or(0 (3.86) w i l l b e a
v a r i a b l e v e c t o r i n n a g n i t u d e and d i r e c t i o n .

The method u n d e r c o n s i d e r a t i o n h e r e p e r m i t s one t c o b t a i n t h e

s o l u t i o n o f t h e k i n e m a t i c e q ~ a t i o no f t h e c a s e o f f i n i t e p r e -
cession. Let t h e a n g u l a r v e l o c i t y v e c t o r r o t a t e around t h e c i r -
c l l l a r cone a b o u t some a x i s , f o r exnrnple, l3 , s u c h t h a t one h a s
he e q u a l i t y :

ml = ailcos bf + ai2sin bt + cis.

where a , b y c a r e a r b i t r a r y c o n s t a n t s .

i n a c c o r d a n c e w i t h theorem 3.3, i t i s s u f f i c i e n t t o f i n d
t h e s o l u t i o n f o r t h i s s p e c i f i c p o s i t i o n o f t h e cone o f p r e c e s s i o n
of t h e v e c t o r ~ ( t ;) a i l o f i t s o t h e r p o s i t i o n s i n t h e b a s i s I
can b e o b t a i n e d from t h e s i m p l e r o t a t i o n u n d e r c o n s i d e r a t i o n .
Let u s r e p r e s e n t t h i s a n g u l a r v e l o c i t y v e c t o r i n t h e form o f t n e
r e s o l u t i o n ( 3 . 8 6 ) , t h e v e c t o r b = b i b e i n g t a k e n a s cuu
3
.
I n t h i s c a s e , si;;ce blr d e t e r m i n e s t h e change o f t h e q u a t e r n i o n
Al , we have :
2.41 =*IJo.\ = &*A,

and At c a n be r e p r e s e n t e d , i n a c c o r d a n c e w i t h ( 3 . 8 4 ) , i n t h e form:
8

F ~ r t h e rl e t :

where cJm=@1(0) a t t h e i n i t i a l momenx of t i m e . Then oar i s o b t a i n e d

from *r by t h e r o t a t i o n o p e r a t i o n performed by t h e q u a t e r n i o n
AI(~) , i - e . , we h a v e :

Hence, ii; i s s e e n t h a t f o r s u c h a s e l e c t i o n o f ww and olr , w e

a c t u a l l y o b t a i n t h e v e l o c i t y ~JIJ+-S i n t h e form ( 3 . 8 6 ) e q u a l i n g
or (3.87).

The s o l u t i o n f o r t h e q u a t e r ~ i o nAt s p - t i s f y i n g t h e e q b a t i o n :
2.i2 =ww 0 A2= [ail + - b)t]
(C 02 \A =. (mi, - 6) 0 A,

i s o b t a i n e d i n t h e form ( 3 . 8 4 ) , s i n c e t h e c o r r e s p o n d i n g a n g u l a r
v e l o c i t y vector has a fixed d i r e c t i o n :

F i n a l l y , w e o b t a i n t h e p a r t i c u l a r s o l ' i t i o n of t h e kinematic
equation f o r t h e angular v e l o c i t y v e c t o r (3.87) :

The s o l u t i o n f o r t h e o t h e r form o f t h e k i n e m a t i c e q u a t . i o n
h a v i n g t h e a n g u l a r v e l o c i t y i n t h e form ( 3 . 8 7 ) i s found by a n a l o g y .
By d i f f e r e n t i s t i n g ( 3 . 8 8 ) , one c a n d i r e c t l y v e r i f y t h a t A,(t)
satisfies t h e kinematic Equation (3.12).

V. As was shown i n p a r a g r a p h 2.7, any q u a t e r n i o n can b e

expressed a s a product of t h r e e quaternions having s p e c i f i e d
e i r e c t i o n s . L e t u s now c o n s i d e r t h e p o s s i b i l i t y 01' r e p r e s e n t i n g
t h e s o l u t i o n o f t h e k i n e m a t i c equat.ion i n t h e form o f a p r o d u c t
o f t h r e e s o l u t i o n s , e a c h o f which can b e o b t a i n e d i n some f a s h i o n ,
f o r e x a ~ p l e , i n t h e form ( 3 . 8 4 ) . We c o n s i d e r t h e k i n e m a t i c e q u a t i o n
i n t h e form (3.12) ( f o r b r e v i t y w e w i l l omit t h e b a s i s i n d i c e s
o f t h e q u a t e r n i o n and t h e a n g u l a r v e l o c i t y ) .
/141
L e t t h e t r a n s f o r m a t i o n q u a t e r n i o n be r e p r e s e n t e d i n t h e form
of t h e Froduct:

where -is..As s p e c i f y t h r e e s u c c e s s i v e t r a n s f o r m a t i o n s , whose sum

i s e q u i ~ a l e n tt o t h e g i v e n t r a n s f o r m a t i o n . We w i l l assume t h a t
each quaternion s a t i s f i e d t h e equation:

By d i f f e r e n t i a t i n g t h e r e l a t i o n ( 3 . 8 9 ) , we o b t a i n :

From t h e o b t a i n e d e x p r e s s i o n , i t 1.s s e e n t h a t A(t) ( 3 . 8 9 ) w i l l

s a t i s f y t h e i n i t i a l E q u a t i o n ( 3 . 1 2 ) I f and o n l y i f t h e e q u a l i t y :

is satisfied. W e c o n s i d e r t h e c a s e when t h e components of t h e

q u a t e r n i o n hi a r e p l a n e r o t a t i o n s , i . e . , t h e v e c t o r s oi(t) have
c o n s t a n t d i r e c t i o n s . A s an example, we w i l l s e l e c t t h e f o l l o w i n g
angular v e l o c i t i e s :
I n t h i s c a s e t h e p a r t i c u l a r s o l u t i o n s o f t h e Equations (3.90)
w i l l a l s o be quaternions:

L e t us now a s k t h e q u e s t i o n : c a n t h e q u a n t i t i e s c(.(t). $ ( t )
and 6 ( t ) b e s e l e c t e d s u c h t h a t t h e e q u a l i t y ( 3 . 9 1 ) i s s a t i s f i e d
f o r any d t )? By s u b s t i t ~ t i n gi n ( 3 . 9 1 ) t h e e x p r e s s i o n s f o r t h e
q u a t e r n i o n s ( 3 . 9 3 ) a d t h e a n g u l a r v e l o c i t i e s ( 3 . 9 2 ) and by
p e r f o r m i n g t h e q u s t e r n i o n m u l t i p l i c a t i o n o p e r a t i o n , we o b t a i n :

+
u (1) = Q,i, Q2i2 + QJ3 = ji, + 4 (i2cos cp - i, sin cp) + '

+b(i,sinscos$-,sin*-l,cospcos~).

By e q u a t i n g t h e c o e f f i c i e n t s o f t h e b e s i s v e c t o r s , we f i n d t h e /I42
f o l l o w i n g s y s t e m s o f e q u a t i o n s f o r d e t e r m i n i n g t h e a n g l e Q. 9 and 6.:
~,=bcos~cos~-$sinq,
~ ~ = b s i n ~ c o+$cosqa,
sg
Q3=@-*sing.
T h i s s y s t e m i s none o t h e r t h a n t h e s y s t e m o f k i n e m a t i c e q u a t i o n s
f o r Krylov a n g l e s ( 3 . 4 2 ) . T h i s c o u l d have been e x p e c t e d s i n c e
t h e s e l e c t i o n of r o t a t i o n s (3.92) h a s t h e sequence o f r o t a t i o n s
f o r t h e Krylov a n g l e s . I n e x a c t l y t h e same manner, a n o t h e r
s e q u e n c e ( 3 . 9 2 ) c o u l d r e d u c e t h e s o l u t i o n o f t h e k i n e m a t i c equa-
c i o n s t o t h e E u l e r e q u a t i o n s ; t h e s o l u t i o n f o r t h e s e c o n d form o f
t h e k i n e m a t i c e q u a t i o n c a n a l s o b e c o n s t r u c t e d by a n a n a l o g o u s
method.

It s h o u l d b e n o t e d t h a t t h e r e p r e s e n t a t i o n u n d e r c o n s i d e r a -
t i o n f o r t h e s e q u e n c e o f p l a n e r o t a t i c n s o f t h e t y p e ( 3 . 8 9 ) can
b e u s e f u l f o r i n v e s t i g a t i n g t h e k i n e m a t i c s o f t h e motion o f
complex s u s p e n s i o n s o f g y r o s c o p i c s y s t e m s . On t h e o t h e r h a n d ,
t h e r e p r e s e n t a t i o n of t h e s o l u t i o n o f t h e kinematic equation i n
t h e form ( 3 . 8 9 ) p e r m i t s orie t o o b t a i t i a r e s o l u t i o n o f motion i n t o
a sum o f more c o m p l i c a t e d known m o t i o n s ( 3 . 9 1 ) , and n o t o n l y
m o t i o n s w i t h c o n s t a n t d i r e c t i o n s o f r o t a t i o n s ( 3 . 9 2 ) , as was
done j u s t now.

S 3.6. FORMAL SOLUTION OF THE KINEMATIC EQUATION

To o b t a i n t h e f o r m a l s o l u t i o n o f t h e k i n e m a t i c equation,
we w i l l c o n s i d e r a n o t h e r p o s s i b l e r e ~ r e s e n t a t i o no f t h e i n f i n i t e s i -
mal t r a n s f o r m a t i o n q u a t e r n i o n . I n t h e f i r s t p a r a g r a p h o f t h i s
c h a p t e r , t h e r e l a t i ~ n s( 3 . 1 ) and ( 3 . 4 ) were p r e s e n t e d , which
r e l a t e t h i s q u a t e r n i o n t o t h e a n g u l a r v e l o c i t y v e c t o r . By u s i n g
t h e r e p r e s e n t a t i o n of t h e q u a t e r n i o n ( 3 . 7 5 ) , one can o b t a i n t h e
r e l a t . i on :

I n t h i s r e l a t i o n i t i s assumed t h a t i n t h e t i r n s i n t e r v a l
[tvi + 311 t h e magnitude ~f t h e a n g u l a r v e l o c i t y r e m a i n s c o n s t a n t
and e q u a l s i t s v a l u e a t some a v e r a g e p o i n t . By comparing ( 3 . 9 4 ) /143
w i t h t h e s o l u t i o n i 3 . 8 4 ) , one can s e e t h a t t h e v a l u e o f 3.4 i s
o b t a i n e d a s t h e s o l u t i o n o f t h e kinematic e q u a t i o n under t h e
assumption t h a t i n t h e i n t e r v a l [t,t+Af]the magnitude of t h e
a n g u l a r v e l o c i t y d o e s n o t change. We have t h e p r e c i s e v a l u e o f
t h e q u a t e r n i o n increment only w i t h a t r a n s i t i o n t o t h e l i m i t a s
Af t e n d s t o z e r o :

We c o n s i d e r t h e f i r s t form o f t h e k i n e m a t i c E q u a t i c n
(3.11) and t r e a t i t i n t h e form ( 3 . 9 ) . We d i v i d e t h e whole t i m e
i n t e r v a l o f t h e s o l u t i o n [O,T] i n t o N i n t e r v a l s Ati, t h e n :
w h e w N i s a f i n i t e number. I n accordance w i t h the r e l a t i o n
( 3 . 9 ) , t h e v a l u e o f t h e q u a t , e r n i o n a t t h e time ti+, w i l l be
deter:niried f r o m I t s v a l u e a t t.he t i m e 1% w i t h t h e h e l p o f t h e
i n f i ~ i i t e s i ~ n stransfol-mat
l ion q u s t e r n i o n ( 3 . 9 4 ) :

Here, s i n c e e a c h q u a t e r i o n i s 311 e i g e l l q u l t . e r t l i o n o f t h e t.18anu-

f o r m s t i o n , t.he a n g u l x v e l o c i t y v e c t o r I s 3 ~ ! i a l > p i n of g cu 9;lt.o
t i i e body b a s i s . ~t i s s e e n i'rc!ir t , h e r e 1 s t i o n ( 3 . 9 6 ) t i i r t t i f t h e
m o t i o n b e g i n s from thb? q u 3 t e r n i ~ 7 n AO 3t t h e time t = 0; t h e n
t h e v a l u e o f t h e q ~ a t ~ r n i o r.1(!,+1)
, w i l l b e a p p r o x i m s t e l y zDepr*e-
s e n t e d i n t h e form:

The r e l 3 t i o n ( 3 . 9 7 ) : s exp1ai:led i n Fii:ure 3 . 5 , on which t , h e

q u a t . t . r n i o n s a r e r e p r e s e n t p d by a r c s or1 t h e s p h e r e . We w i l l n~!w
i n c r e a s e t h e nrlnt?er3 ot' int. * - - v l s t o i t 1 f i n i t . y b y d e c r 8 e a s i n ~t h e
l e n g t h s o f e a c h i ~ i t , e r v a l . T h s n t h e s o l u t i o n o f t.he e q u a t i o n en
each i ~ i t e r v a l( 3 . 9 4 ) w i l l t e n d t.o t,he e x a c t v s l u e ( 3 . 9 5 ) . One
c a n t,hen r x p ? c t t h a t t h e e x p r e s s i o n ( 3 . 9 7 ) w i l l t e n d t o t h e
e x a c t s o l u t i o n o f t5t. k i n e m a t i c E q m t i o n ( 3 . 1 1 ) .

By a n a l o g y t o t h e Roimann i n t e g r a l o b t a i n e d 3s 3 limit
p a r t . i a l sums, we c o n s i d e r t h e q u a n t i t i e s w h i c h a r e t.he l i m i t s o f
t h e products (3.97) t a k e n i n d i r e c t and r e v e r s e o r d e r s :

and :
 T h e s e q u a n t i t i e s w i l l be d e n o t e d
by t h e symbols:

If t h e l i m i t e x i s t s , t h e n i t de-
termines t h e general s o l u t i o n of
t h e kinematic Equation (3.11) i n
F i g u r e 3.5. t h e form:

By r e p e a t i n g , i n an a n a l o g o u s manner, a l l t h e argument f o r
t h e s e c o n d form o f t h e k i n e m a t i c Z q u a t i o n ( j . 1 2 ) , we o b t a i n t h e /I45
g e n e r a l s o l u t i o r l s a t i s f y i n g t h e i n i t i a l c o n d i t i o n AO i n a c c o r -
dance w i t h ( 3 . 9 9 ) i n t h e form:

We w i l l shcw t h a t t h e f u n c t i o n s ( 3 . 1 3 0 ) and ( 3 . 1 0 1 ) a r e
a c t u a l l y s o l u t i o n s o f t h e Zqt!ations ( 3 . 1 1 ) and ( 3 . 1 2 ) . Let us
consider t h e quaternion d e r i v a t i v e as the following l i m i t .
Ar= lim
(i + At) - Af -(1)
.'
d

At +o Ai

s
f+At im
E""
-1
t
lim . ht
0 Jt+O
I
P r o c e e d i n g from t ? 2 d e f i n i t i o n of t h e q u a n t i t y S e f m ~ as
dt the
l i m i t o f t h e p r o d u c t ( 3 . 9 8 ) , one can shcw t h a t :

lim t
= 1 'dr (f).
At+O At

To f i n d t h i s l i m i t , we t a k e i n t o a c c o u n t t h e f a c t t h a t t h e
t+Af I
q u a n t i c y S , T * E ( ~c a~n ~ b e r e d u c e d t o t h e q u a n t i t y
t .
iTynp9
e
which f o l l o w s from t h e l i m i t i n g p r o c e s s ( 3 . 9 8 ) , where f o r s m a l l
At , one can r e n l a c e t h e n r o d u c t o f e x ~ o n e n ' i a l f u n c t i o n s b y t h e
e x p o n e n t i a l f u n c t i o n w i t h t h e sum o f t h e e x p o n e n t s ( i n a c c o r d a n c e
w i t h t h e remarks o f b ) , p a r a g ~ a p h3.5. The l i m i t o f t h e q u a n t i t y :

i s found i n t h e u s u a l f a s h i o n :
+/ r+pt
o
l-.. I
- ' = lim a-2 -E ff+kAt)At - I
lim
At+O Al At+O At = 6 ) (t)
~ .
Hence, i t f o l l o w s t h a t ( 3 . 1 0 0 ) i s t h e s o l u t i o n o f t h e E q u a t i o n
(3-11)-

In finding the derivative &(t) , one should t a k e i n t o account:

I

A,(t + At) - AI ( t ) = lim S

?;-lcr)dr
e- -I
lim -+
t at
~t-bo ~t ~t +o ~t Ar (C)

a n d , b y anaology t o t h e p r e c e d i n g :

i.e., (3.101) i s t h e s o l u t i o n o f E q u a t i o n ( 3 . 1 2 ) .

I n conclusion, w e note t h a t i n t h e i n f i n i t e product (3.97), a

a s well a s iri t h e l i m i t ( 3 . 9 9 ) , t h e a d d i t i o n ( i . e . , i n t e g r a t i o n )
o f t h e e x p o n e n t s o f t h e e x p o n e n t i a l f u n c t i o n s does n o t o c c u r i n
g e n e r a l . I n t h e p a r t i c u l a r c a s e when t h e a n g u l a r v e l o c i t y v e c t o r
h a s a c c n s t a n t d i r e c t i o n , t h e summation o f t h e e x p o n e n t s i s
p o s s i b l e . Obviously, one can o b t a i n , o n l y i n t h i s c a s e , t h e
expressions f o r t h e q u a n t i t i e s (3.93):
and t h e n , as i s n o t d i f f i c u l t t o s e e , t h e s o l u t i o n s ( 3 . 1 0 0 ) a n d
( 3 . 1 0 1 ) become t h e s o l u t i o n ( 3 . 8 4 ) f o u n d p r e v i o u s l y .
 CHAPTER 4

APPROXIMATE AND NUMERICAL INTEGRATION OF THE

KINENATIC EQUATIONS -
/ 147 :
i
The e x a c t s o l u t i o n of t h e k i n e m a t i c e q u a t i o n s , i n g e n e l a l , i
I
i
can n o t be e x p r t c s e d w i t h f u n c t i o n s . Thus, i n p r a c t i c e one 4

h a s t o u s e a p p r o x i m a t i o n methods, s i m i l a t i o n on a n a l o g computers {
i
5
and n u m e r i c a l i n t e g r a t i o n . T h e n u m e r i c a l i n t e g r a t i o n of t h e
B
k i n e m a t i c e q u a t i o n s i n p l a t f o r m l e s s c o n t r o l s y s t e m s i s of p a r t i - .t
cular interest.

I n t h i s c h a p t e r we w i l l c a r r y o u t t h e c o n s t r u c t i o n and t h e
a n a l y s i s o f n u m e r i c a l methods f o r i n t e g r a t i n g t h e k i n e m a t i c
e q u a t i o n s i n t h e bady b a s i s , i . e . , E q u a t i o n s ( 3 . 1 1 ) Analogous
c o n s t r u c t i c n can b e c a r r i e d o u t a l s o f o r S q u a t i o n s ( 3 . 1 2 ) .

4.1. CONSTRUCTION OF THE NUMERICAL METHODS

I t was shown in t h e p r e c e d i n g c h a p t e r t h a t t n e g e ~ ~ e r a l
s o l u t i o n of E q u a t i o n ( 3 . 1 1 ) can be e x p r e s s e d w i t h t h e p a r t i c u l a r
s o l u t i o n w i t h u n i t i ? ? . t i a l c o n d i t i o n s . T h i s same r e s u l t can be
e x p r e s s e d i n a somewhat i i f f e r e n t form. By i n t e g r a t i n g ( 3 . 1 1 )
t e r m b y t e r m , we have - .
A(I)=A(to) +; 5 A ( f ' ) 0 ~ ~ ( 1 ' ) d l '' .
C
We assume t h a t :

A ( t )-- A (to)0 N (1). (4.2)

By s u b s t i t u t i n g t h e r e l a t i o n ( 4 . 2 ) i n t o t h e e q u a l i t y ( 4 . 1 ) , we
find:
N (1) - +f J
1 N (1') 0 @!, (13 dtt . (4.3)
Thus, N ( t ) s a t i s f i e s t h e k i n e m a t i c e q u a t i o n ( 3 . 1 1 ) w i t h t h e
i n i t i a l con?.~tion:
N (to)= 1..

To c o n s t r u c t t h e a l g o r i t h m of t h e n u m e r i c a l in!.egration, we
assume i n r e l a t i o n ( 4 . 2 ) :
to=t ,-,, t=t,=t,,,+h,
where h i s s o s e l n t e r v a l hav5ng t h e s e n s e of t h e increment of
i n t e g r a t i o n ; we have:
A,= ,,A ON, (4.4)
I n t h i s formula we u s e t h e n c t a t i o n :

The e x a c t s o l u t i o n o f E q u a t i o n ( 4 . 3 ) can be c o n s t r u c t e d

-
by t h e P i c a r d method and i s t,he q u a t e r n i o n a n a l o g of t h e m a t r i x a n t :
N (1)

The n u m e r i c a l methods o f v a r i o u s o r d e r s can b e c o n s t r u c t e d

on t h e b a s i s o f formula ( 4 . 5 ) . I t s h o u l d be n o t c d t h a t when
c o n s t r u c t i n g t h e n u m e r i c a l method it i s i m p o s s i b l e , g e n e r a l l y
s p e a k i n g , t o t a k e i n t o account t h a t t h e q u a n t i t y is easily
measured a t an a r b i t r a r y t i m e . I n p a r t i c u l a r , when i n t e g r a t i n g
t h e kinematic e q u a t i o l s i n Cardanless systems,, t h e i n i t i a l
i n f o r m a t i o n i s u s u a l l y t r e a t e d i n t h e form o f an i n t e g r a l o f
t h e a n g u l a r v e l o c i t y o v e r t h e increment of i n t e g r a t i o n . Accord-
i n g l y , we introd1:ce t h e a p p a r e n t r o t a t i o n v e c t o r :

Then, t.he px~imary i n f o r m a t i o n a t t h e n - t h increment i s t h e f i r s t

d i f f e r e n c e of t h i s v e c t o r t a k e n l'backwardsll:
ta
0;= w ( t )-e t )= j c
. 03 lid'.
'n-1
 We a p p r o x i m a t e W ( l ) i n s i d e t h e increnien: b y an i n t e r p o l a -
t i o n polynomial o f f o u r t h o r d e r . Without . ~ c i n gt h c g e n e r a l i t y ,
A

o n e c a n assume t h a t a t t h e b e g i n n i n g d f t h e i n c r e m e n t :
0' (t,,-,) = 0.

We h a v e :
-
B * ( ~ ) (rg:-
I
ve:.- +I r3e:- --71
1
r4e:)r +

where .r i s t h e d i m e n s i o n a l t i m e i n s i d e t h e increrncrit :

By s u b s t i t u t i n g t h e i n t r o d u c e d m a g n i t u d t o f t h e a p p a r e n t
r o t a t i o n v s c t o r w i t h t h e h e l p of r e l a t i o n s ( 4 . 6 ) , (4.8), (4.9)
i n t o formula (4.5) and keeping terms t o f o u r t h o r d e r i n c l u s i v e l y ,
w e o b t a i n t h e following expression f o r t h e s o l u t i o n a t t h e time

To o b t a i n t h e g i v e n f o r m u l a h e r e , t h e q u a t e r n i o n m u l t i p l i c a t i o n
o p e r a t i o n s were r e p r z s e n t e d i n t h e f o r m o f v e c t o r m u 1 t i p l ; c a t i o n
operations (1.9) .
L e a v i n g terms o f c o r r e s p o n d i n g o r d e r i n t h e r e l a t i o n (4.10),
we o b t a i n t h e a l g o r i t h m s o f t h e n u m e r i c a l m e t h o d s : /I50
'rhc v a l u e o f t h e q u a t e r n i o n A c z l c u l a t e d i n t h e give11 i n c r e m e n t
i s d e t e r m i n e d by t h e e x p r e s s i o n :

I n t h i s r e l a t i o n , L- i n ( 4 . 1 1 ) - ( 4 . 1 3 ) , > n e a s t e r i s k d e e o t e s
q u a n t i t i e s c a l c u l a t e d from t h e a p p r o x f m a t i o n f o r m u l . i e .

The methods ( 4 . 1 1 ) and ( 4 . 1 2 ) h a v e b e e n o b t a i n e d i n t h e

l i t e r a t u r e [22, 381 2n? a r e c a l l 3 d r e s p e c t i v e l y t h e o r d i n a r y
a n d m o d i f i e d E u l e r n,'-t;.nds. The f c r m u l a ( 4 . 1 3 ) d e t e r m i n e s t h e
method of t h i r d o r d e r . ?np e x p r e s s i o n ( 4 . 1 0 ) i t s e l f c a n , o f
c o u r s e , b e c o n s i d arcd o f f o u r t h o r d e r .

The s e c o n d g r o u p o f n u m e r i c a l methods car1 b e c a n s t r u c t e d

directly f o r the true rotation vector.

Let :
I
A(i)=eS
-te
.
We i n t r o d u c e t h e t r u e r o t a t i o n v e c t o r *

* Such a v e c t o r iias i n t r o d u c e d , f o r example, I n work 11'41

and i s c a l l e d t h e f i n i t e r o t a t i o n v e c t o r . We w i l l c a l l i t t h e
t r u e r o t a t i o n v e c t o r i n c o n t l - a s t t o 8 [ c f . ( 2 . 5 2 ) :.
By d i f f e r e n t i a t i n q t h i s e q u a l i t y and e l i m i n a t i n g with the help
of E q u a t i o n ( 3 . 6 1 ) , we o b t a i n t h e k i n e m a t i c e q u z t i o n f o r t h e
vector 8 :
I - -5
6 C15 -
d
6 6
U E - C ~ ~ -
2 2
-
0 (UE. + 2
+ +1 (9x6.) (4.14)
/151
V 6 4 >rb
The e x p r e s s i o n s 7 ctg + a l d (1 - ctB )b-* a r e a n a l y t i c
f u n c t i o r l s of Q . Thus, t o s o l v e equzt.ion ( 4 . 1 4 ) , one can u s e t h e
method o f s m a l l p a r a m e t e r s C4, 341, by c o n s i d e r i n g 43 2nd i z d t
as q u a n t i t i e s of f i r s t o r d e r ; w e r e p r e s e n t t h e s o l u t i o n i n t n e
form:

The e q u a t i o n f o r W k ) i s o b t a i n e d b:- substituting (4.15)

i n t o t h e i n i t i a l e q u a t i o n ( 4 . 1 4 ) and e q u a t i n g t e r m s o f t h e same
order:
9"'-
- CUE,
1 n) xor.
em=-e
2
#3)= - - W E1
12 I I
2
+ & ef.')[aE- 6'1+ 4 [emx a r ] .
&

9t4) = - -8 WEI
[@'I' - eta]&
+ I 0"'(B"' k - e'?)]+ e(2)h.e("i)+ L
12 x
It w i l l be n e c e s s a q l a t e r t o perform t h e i n t e g r a t i o n o f t h e
o b t a i n e d r e l a t i o n s . By u s i n g ( 4 . 6 ) -
(4.9), we have at t i m e tn
under t h e c o n d i t i o n t h a t e(tn-1)=0 t o terms of f o u r t h o r d e r
= nclusively :
n
-
- ve;.
9:) = x
( ~ 0 ; F'@J + (TO: X Pea.

e',n= 0. -
F i n a l l y , we o b t a i n e d :

Keeping o n l y t h e f: c - t e r r c i n (4.161, we o b t a i n t h e n u m e r i c a l
method which can be c a l l e d t h e a v e r a g e v e l o c i t y method:

N;=e2
-I re: . (4.17)
By a n a l o g y , w e o b t a i n t h e r e t h o d s o f t h i r d and f o u r t h o r l 2 r s :
/I52

We n o t e t h a t t h e h i g h e r d i f f e r ~ n c e si n t h e o b t a i n e d
formulae c a n b e e x p r e s s e d by t h e f i r s t d i f f e r e n c e s a t p r e c e d i n g
increments. I n p a r t i c u l a r , the expressions ( 4 . 1 3 ) , (4.18), (4.19)
can b e convorcod r e s p e c t i v e l y t o t h e f o l l o w i n g form:

The t h i r d group o f n u m e r i c a l methods i s b a s e d on t h e u s e o f

t h e d i f f e r e n c e methods o f t h e n u m e r i c a l S t i e l t j e s i n t e g r a t i o n
[25]. With c o n s i d e r a t i o n o f ( 4 . 6 ) , t h e Z q u a t i o n ( 3 . 1 1 ) can k e
r e p r e s e n t e d i n t h e form p f Shannans e q u a t i o n :

It can b e shown t h a t t h e c o r r e s p o n d i n g f o r m u l a e o f t h e
numerical S t i e l t j e s i n t e g r a t i o n f o r t h e Equation (4.20) has t h e
form *: s

A:= A: -1 + 1 A:l, o S8;, ('1.21)

: = A:-, + -2I A:-, re; + 1 FA:. re:. (4.22)
A:= All + I
A:-! 0 Ye: + 1 VA: 0 Fern+
I (4.23)
-I-
x(FA:oGIK -VA',oTWJ

-- -

* Here b y a n a l o g y w i t h (4.6), we u s e t h e notafuiorl:

and a r e r e s p e c t i v e l y t h e r e o t a n g u l a r , t r a p e z o i d a l and p a r a b o l i c /153
i n t e r p o l a t i o n f o r m u l a e . We n o t e t h a t t h e q u a n t i t iss YA', and i2.4:
a p p e a r i r g i n t h e s e f o r m u l a e a r e n o t known st t h e b e g j n n i n g o f
t h e c a l c u l a t i o n s a t a g i v e n i n c r e m e n t and t h e y s h o u l d b e c a l c u -
l a t e d by e x t r a p o l a t i n g t h e d i f f e r e n c e s t o t h e i n c r e m e n t a h ~ q d .
The 2 x t r a p o l a t i o n f o r m u l a f o r ( 4 . : 2 ) have t k e forrx:

For t h e p a r a b o l i c formula, w e have:

A s i n t h e p r e c e d i n g z a s e s , t h e h i g h e r d i f f e r e n c e s can b e
e x p r e s s e d b y f i r s t d i f f e r e n c e s a t p r e c e d i n g i n c r e m e n t s . The
n e c e s s i t y of e x t r a p o l a t i n g t h e t h e d i f f e r e n c e s i s a disadvantage
o f t . h i s group o f methods.

9 4.2. KINEMATIC EQUATIONS FOR UNNORMALIZED QUATERNIONS.

CORRECTION OF THE NORY

I n t h e n u m e r i c a l s o l ~ i t i o n so f t h e k i n e m a t i c e q u a t i o n s a
s p e c 1f i c d i f f i c u l t y a r i s e s , whzch i s r e l a t e d t o t h e d e p a r t u r e of
t h e norm o f t h e q u a t e r n i o n . The f a c t i s , t h a t i n t h e p r e c e d i n g
c h z p t e r s i t was asslimed t h a t t h e q u a t e r n i o n norm e q u a l s o n e ,

I n p a r t i c u l a r , t h e o p e r a t i o n s on q u a t e r n i o n s c o r r e s p o n d i n g t o
o r t h o g o n a l t r a n s f o r m a t i o n s were d e f i n e d under t h i s a s s u m p t i o n .
A t t h e same t i m e , c o n d i t i o n ( 4 . 2 6 ) does n o t f o l l o w from t h e form
o f t h e k i n e m a t i c e q u a t i o n . A c t u a l l y , by m u l t i p l y i n g ( 3 . 1 1 ) on
tl-e r i g h t by A, , w e h a v e :
C o n v e r t i n g t o t h e c o n j u g a t e q u a n t i c i e s , we o b t a i n :
I - -
A o A z p . \ o ~ ~ o . \ = - -2I . \ o a E o ~-.
By a d d i n g ( 4 . 2 7 ) and ( 4 . 2 8 ) t e r m by t e r m , we h a v e :

i.e. :
-(A
dl
d
0
-
A)=O.
Thus, E q u a t i o n ( 3 . 1 1 ) h a s t h e f i r s t i n t ~ g r a l :

The a c t u a l v a l u e of t h z c o n s t a n t d o e s n o t f o l l o w from t h e form

o f t h e k i n e m a t i c e q u a t i o n i t s e l f , b u t i s d e t e r m i n e d o n l y by
s p e c i f y i n g a p p r o p r i a t e i n i t i a l c o n d i t i o n s . I n p r a c t i c e , be-
c a u s e o f t h e t e c h n i q u e e r r o r s and r o u n d i n g - o f f e r r o r s , t h e
e q u a l i t y (5.26) s t o p s being s a t i s f i e d with t h e course o f t i m e ,
i f s p e c i a l measures a r e n o t t a k e n . I n t h i s connection, it is
u s e f u l t o d e v e l o p t,he form o f t h e k i n e m a t i c e q u a t i ~ nf o r unnormal-
ized quaternions .

Let u s c o n s i d e r t h e q u a t e r n i o n A , s u c n t h a t :

and t h e q u a t e r n i o n A[-'obtained from A n '-!le r e s u l t of

normalization:

Let t h e q - u a t e r n i o n An' d e s c r i b i n g t h e motion o f t h e c o o r d i n a t e

system s a t i s f y t h e equation:
A'"- AW 0 a=.
-7 '
By d i f f e r e n t i a t i n g ( b . 30) and s u b s t i t u t i n g i n t o ( 4 . 3 1 ) , we o b t a i n
the d i f f e r e n t i a l equation f o r t h e quaternion A:
We d e n o t e :

We have f i n a l l y :

Equation (4.34) i s equivalent t o (3.11) i n t h e sense t h a t t h e

r e s u l t of normalizing Equation (4.34) s a t i s f i e s S q u a t i o n ( 3 . 1 1 ) .
n h u s , i n d e p e n d e n t l y o f t h e magnitude and t h e n a t u r e o f t h e ckang?
o f h ( t ) > O , t h e q u a t e r n i o n s A'"'and A b e i n g s o l u t i o n s 3 f t h e s e
e q u a t i o n s d e s c r i b e t h e same motion o f t h e c o o - d i n a t e s y s t e m s ,
i . e . , t h e y s p e c i f y t h e sar!le t r a n s f o r m a t i o n . I l ~ w e v e r , t h e t r a n s -
f o r m a t i o n A'"'o( )ox'"' f o r n o r m a l i z e d q c a t e r n i o n c o r r e s p o n d s t o t h e
t r a n s f o r m a t i o n A o ( )o A" f o r t h e unnormali zed.

We s e e t h a t t h e a d d i t i o n of t h e term f ( t ) A i n t o t h e k i n e m a t i c
e q u a t i o n does n o t change t h e p h y s i c a l meaning o f t h i s e q u a t ' o n .
E q u a t i o n ( 4 . 3 4 ) i s , as was ( 3 . 1 1 ) , t h e k i n e m a t i c e q ~ a t i o nd e s c r i b -
i n g t h e same motion. There a r e no l i m i t a t i ~ n son t h e f o r = o f t h e
f u n c t i o n f ( * ) . I n p l a c e of che e q u a t i o n f o r t h e norm ( 9 . 2 9 ) , w e
h a v e , i n %iew o f r e l a t i o n ( 4 . 3 3 ) , t h e e q u a t i o n :

By a r h i t r a r i l y c h o o s i n g t h e form of t h e f u n c t i o n f ( t ) , one
can make t h e p o i n t A = 1 an a s y m p t o t i c a l l y s t a b l e e q u i l i b r i u m
p o s i t i o n of t h e S q u a t i o n ( 4 . 3 5 ) . For example, one can t a k e :

or:

b u t f o r p r a c t i c a l r e a s o n s i t i s most c o n v e n i e n t t o s e t :
and t o s o l v e t h e k i n e m a t i c e q u a t i o n i n the form:

A = - A2I o ~ E - k A ( A 2 - 1).

I n t h i s c a s e , ( 4 . 3 5 ) i s i n t e g r a t e d i n t h e f i n a l form:

For . l o > O , A ( i ) - + l ( t - . ~ ~ )o c c u r s . Thus, i n t r o d 1 , c i n g t h e t e r m

-k . i ( h 2 - 1) i n t o t h e k i n e m a t i c e q u a t i o n e n s u r e s an a u t o m a t i c
c o r r e c t i o n f o r t h e norm o f t h e s o l u t i o n .

4.3. NUMERICAL KETHODS FOR NORM CORRECTION

The res!;l-ls o b t a i n e d i n t h e p r e c e d i n g p a r a g r a p h shok: t h a t

t h e d e p a r t u r e o f t h e norm of t h e s o l u t i o n from G;:e d o e s n o t l e a d
t c e r r o r s i n c o n s t r u c t i n g t h e c o o r d i n a t e system. Konetheless,
$ h i s d e p a r t u r e i s b e r y u n d e s i r a b l e , s i n c e i t can l e a d t o c o m ~ u t e r
r e g i s t e r m e r f l o w o r , on t h e o t h e r h a n d , t o i t s u n d e r u s e i n t h e
l i m i t of a degeneracy of t h e s o l u t i o n t o z e r o . I n a d d i t i o n ,
t h e orthogonal transformation operations, r o t a t i o n additions,
e t c . f o r unnormalized q u a t e r n i o n s have a more cor.iplicated form
i n comparison w i t h t h e c o r r e s p o n d i n g o p e r a t i c n s f o r n o r m a l i z e d
quaternions. A l l these f a c t s lead t o t h e necessity of l i m i t i n g
t h e d e p a r t u r e o f t h e norm o f t h e s o l u t i o n from o n e . F o r t h e
n u m e r i c a l methods c o n s i d e r e d i n p a r a g r a p h 4 . 1 , t h i s c a n b e
a c h i e v e d by p e r i o d i c a l l y n o r m a l i z i n g t h e s o l u t i o n . However,
r a t h e r complicated c a l c u l a t i o n operdtions a r e t h e n r e q u i r e d -
e v o l u t i o n and d i v i s i o n .

I n t h i s p a r a g r a p h a group o f n u m e r i c a l methods b a s e d on
t h e s o l u t i o n o f t h e k i n e m a t i c e q u a t i o n i n t h e form ( 4 . 3 6 ) w i l l
b e c o n s t r u c t e d , i n which a u t o m a t i c c o r r e c t i o n o f t h e norm i s
provided.
 We set:

+.; = A:-, 0 (K- k (A:-: - 1)).

Here N* i s d e t e r m i n e d from o n e o f t h e f o r m u l a e o f n u m e r i c a l
n
i n t e g r a t i o n o f p a r a g r a p h 9.1.

By t a k i n g t h e s q u a r e o f t h e m a g n i t u d e (norm) on b o t h s i d e s
o f (4.37!, we h a v e :

When I vect h, ?*
I-
P-
const, sqai X; = const, t h e e x p r e s s i o n ( 4. 38) j e t e r n i n e s
a sequence f u n c t i o n f o r -1: with the values thusly established:

We w i l l b e i n t e r e s t e d i n t h e v a i u e o f A: d e t e r m i n e d by t h e
lower s i g n of t h e first r e l a t i o n of (4.39), s i n c e t h i s value is
c l o s e t o one o r e x a c t i y e q u a l t o i t . F o r t h e methods d e t e r m i n e d
by t h e f o r r d l a e ( 4 . 1 1 ) - (4.13!, w e h a v e r e s p e c t i v e l y :

F o r t h e methods ( 4 . 1 7 ) - ( 4 . 1 9 ) u s i n g t h e e x p o n e n t i a l r e p r e s e n t a -
t i o n , we w i l l a l w a y s h a v e :
A:-1.

T h u s , t h e e s t a b l i s h e d v a l u e o f A', i s c l o s e t o one OL- exactly

equal t9 i t .

Tc a n a l y z e t h e s t a b i l i t y , l e t u s c o n s i d e r t h e d e r i v a t i v e
-
sA', and require that:
ah:,,
By d i f f e r e n t i a t i n g (4.38) and s u b s t i t u t i n g A:-, = A', we have a f t e r
some t r a n s f o r m a t i o n s ;
= 1 - 2 k A t v1-I vect N' f. (4.41)

The i n e q u a l i t y (4.40) t h e n l e a d s t o ti-? c o n d i t i o n :

o<r <l~;(i -~vs~N-FJ~?

o r , w i t h c o n s i d e n a t i o n of ( 4 . 3 9 ) :
I
).'l-~vectN*~~
+ dl -1 vect R*f - sqal N'.

The i n e q u a l i t y (4.42) w i l l c e r t a i n l y be s a t i s f i e d i f one

r e q u i r e s t h e s a t i s f a c t i o n of t h e c o n d i t i o n :

It can b e shown t h a t under t h e s e c o n d i t i o n s t h e o t h e r two e s t a b -

l i s h e d values of (4.39) become u n s t a b l e .

It i s n a t u r a l t o s e l e c t especially since expression

( 4 . 4 1 ) i s t h e n very c l o s e t o z e r o , i . e . , t o t h e v a l u e f o r which
t h e r a t e of convergence i s maximum.

Let u s now c o n s i d e r t h e s t a b i l i t y o f t h e norm c o r r e c t i o n

p r o c e s s f o r an a r b i t r a r y l i m i t e d Ye. I n t h i s case, the
sequence f u n c t i o n s depend on n. Then, t h e e x p r e s s i o n s % :

* Here and i n a l l t h e succeeding formulae, i t i s t a k e n t h a t

k = 1/2.
and :
I
A: = A* ( vect N' I* +bqalN' - 0.5 (A2- 1)r)
a r e t h e m i n o r a n t and m a j o r a n t s e q u e n c e f u n c t i o n s o f ( 4 . 3 8 )
o b t a i n e d when lrcl t a k e s a z e r o o r i t s maximum v a l u e r e s p e c t i v e l y .
F o r t h e methods ( 4 . 1 7 ) - ( 4 . 1 9 ) t h e m i n o r a n t and m a j o r a n t h a v e
t h e same f i x e d s t a b l e p o i n t h ; = l . The s e q u e n c e f u n c t i o n i t s e l f
w i l ; t h e n o b v i o u s l y have t h e same s t a b l e f i x e d p o i n t .

F o r methods ( 4 . 1 1 ) -
( 4 . 1 3 ) t h e e x p r e s s i o n s ( 4 . 4 3 ) and
(4.44) determine d i f f e r e n t , although c l o s e , f i x e d p o i n t s .
Thus, 11; r e d u c e s t o some l i m i t e d segment, c o n t a i n i n g t h e s e p o i n t s .
One can show t h a t t h e b o u n d a r i e s o f t h i s segment e q u a l :
A:-= max (A:(A?].
OCACA,

A: 1, = -45(A).,:

The l i i n i t e d segment f o r t h e E u l e r method:

of c o u r s e , h a s t h e g r e a t e s t lengtk..

Now, a f t e r t h e s t a b i l i t y o f t h e c o r r e c t i o n of t h e norm h a s
b e e n p r o v e n , we c o n v e r t f o r m u l a ( 4 . 3 7 ) t o a form c o n v e n i e n t f o r
e v a l u a t i n g t h e e r r o r . F o r t h i s r e a s o n , we w i l l t r y t o e l i m i n a t e
A:-! by e x p r e s s i n g i t b y t h e i n i t i a l i r l f o r m a t i o n . We s e t i n
e q u a l i t y ( 4.38) :

We have :
A f t e r r e p l a c i n g n by n-1 aL- some t r a n s f o r m a t i o n s , w e o b t a i n
t h e expression:
xn-I (1 + xn-3 [(~i-1fl:-,) - 0

' - ~tt-2 Nkl+ 7 ~ n - 2 1- 1,

1 2

from which we f i n a l l y o b t a i n :

I n o r d e r t o c o n t r a c t t h e r e c u r s i o n r e l a t i o n ( 4 . 4 6 ) , we
r e p l a c e ~ ~ c- a 2l c u l a t e d by t h e same r e l a t i o n . Then, by a n a l o g y ,
we e x c l u d e Xn- , e t c .

To terms o f f o u r t h o r d e r i n c l u s i v e l y , w e have r e s p e c t i v e l y
f o r t h e methods ( 4 . 1 1 ) - ( 4 . 1 3 ) :

By u s i n g t h e e q u a l i t i e s ( 4 . 4 7 ) - ( 4 . 4 9 ) w i t h c c n s i G e r a t i o n
of ( 4 . 4 5 ) , one can e x c l u d e A from t h e f o r m u l a ( 4 . 3 7 ) .

/160
Thus, f o r t h e c i t e d methods, one can r e p l a c e ( 4 . 3 7 ) by t h e
expression:
A; = A;-~ 0 N,", (4.50)

where r e s p e c t i v e l y :
N ~ = 1 + + T1 e ; - B I TI8 : - 1 ~ -
I 3
-EIw-lf IYe;-2p+xI~e:-lF,

-1 I 1
N:=l+TFBn --IVB:f-m
8 P ~ : - Ir,
N ~ = 1 + T F1B : , - - I F8I~ i f + ? i - ( C 8I : , X V 9 8 ~ ) -
--48I l ye; f + I
ve:-, p.
 For t h e methods (4.17) - (4.19) t o terms of f o u r t h o r d e r , we

Thus, f o r t h e method (4.17! - ( 4 . 1 9 ) , t h e e x p r e s s i o n s f o r N** and

n
N* c o i n c i d e .
n

4.4. -
ERRORS I N THE NUMERIC P.L METHODS WITH CGIVSTANTINCRETflENTS

We denote by M n t h e d i f f e r e n c e between % h e v a l u e s of At1

c z l c u l a t e d from t h e approximation and t h e e x a c t f ~ r m u l a e :

By comparing ( 4 . 4 ) w i t h (4.50) and assuming t L a t t h e p r e c e d i n g

v a l u e A;-' was e x a c t , we have:

Here :

i s t h e e r r o r p e r increment of i n t e g r a t i o n f o r t h e methods
w i t h o u t c o r r e c t i o n of t h e norm. Accordingly, f o r t h e methods
w i t h c o r r e c t i o n o f t h e norm:
aN, -
= ?q N
, (4.52)

The e x p l i c i t form of 6Nn f o r t h e v a r i o u s numerical methods

-
/161

i s p r e s e n t o d i n Table 4 . 1 .

For e v a l u a t i n g t h e e r r o r accumulated over t h e i n t e r v a l of

i n t e g r a t i o n , we r e p r e s e n t An ic t h e form:

by analogy, we r e p r e s e n t A', w i t h c o n s i d e r a t i o n of ( 4 . 5 1 ) and

F o r t h e q u a t e r n i o n w i t h t h e accumulated e r r o r A: relative t o
A,, we have:
6AnP A: 0 An. (4.55)
S i n c e An i s a n o r m a l i z e d q u a t e r n i o n , t h e n :

where :

For t n e accumulated e r r o r of t h e magnitude, w e o b t a i n t h e

expr5ssion:

Here we d e n o t e b y &N,, t h e e r r o r of t h e magnitude o f :N p e r g i v e n

i n c r e m e n t . The e x p l i c i t form of 6N, f o r t h e d i f f e r e n t n u m e r i c a l
methods i s presented. i n Table 4 . 2 .

To terms o f h i g h e r o r d e r , one can relblace t h e sum i n t h e

expression (4.57) by t h e i n t e g r a l :
t

E x p l i c i t e x p r e s s i o n s f o r t h e accumulated e r r o r o f t h e m a g n i t u l e
of 6A* and t h e r a t e of i t s d e p a r t u r e a r e p r e s e n t e d i n T a b l e 4 . 3 .
The f a c t t h a t :
dk- '
c'e: = hk 2- ii-; (s,&

h a s been t a k e n i n t o a c c o u n t . We n o t e t h a t t h e component of t h e
accuniulated e r r o r determined by f o r m u l a ( 4 . 5 8 ) d o e s n o t l e a d
t o e r r o r s i n d e t e r m i n i n g t h e c o o r d i n a t e system ( c f . p a r a g r a p h
4 . 2 ) and c;n be e l i m i n a t e d by p e r i o d i c n o r m a l i z a t i o n of A * .

Let u s now c o n s i d e r t h e component of t h e accumulated e r r o r

which cannot be e l i m i n a t e d by n o r m a l i z a t i o n . By n o r m a l i z i n g
( 4 . 5 5 ) , we have:

CA =-A;1
I' M n =- A: 0 ii..
 TABLE 4 . 1 . ERROR OF THE ITUMISRICAL )IETHODS PER
INTEGRATION INCREMENT /162-3
--
. -
I

Numericai method I 6Nn

Euler method
' An-~n-1*(1 il TI ~ @ i )
Modified Euler method

+-isI (ve; x 0%;) - I Ive; p .a;]

Average v e l o c i t y method

Euler method with norm correction

1 I
A ~ - & - , o [ I + ~ F @ : + ~ ( ~-A:-I)] 24

Modified Euler method with norm correction

-l-
(ve: x v%)
24
+&I 70: p ve'.

Average v e l o c i t v method with norm correction

 TABLY 4.2. MAGNITUDE ERROR PEH INTEGRATION INCREMENT --
/164-5 i

-
I
a

Numerical method Magnitude error mn

+ I
A ~ = A ~ - I * ( ~ T~@i) -9
8
ve; f

a,,-~,,.(l+ v~;--I
2 9
I P) I
128
VB; r
A,,-&-~*[l+ l ~ e ; - ~I l v e ; f + I 1
--I384 vel; I'
+$(oe;*vw~- &I ve:rve;]
 TABLE 4.3. ACCUM'JLATED MAGNITUDE ERROR AND R A T E
OF DEP P-RTUZE
I
Numerical method Magnitude erroram 41
I
t
I h
&. -&-t*(l+Fq) 8
-
8 m*
0

I X..
la8
&' -
V
128
m4

I.
0

+-pe;-
4-A.-.-,*[I
I
W; I*+ K
t
- G
3M
I I a
+~(oe;r.~.g;)-~l~rW]
-
An-# 3 Z' - -
& " ~ n - ~ * t ~
!-ve:+= '- 1
(08:. :: r w,)]
-
1
&-~.-,*[l+
I
~ @ ; B ; + ~ ( -A:-I),
J -8I hzm2
& - & - . - , * _ l . ( ~ I+ ~ ~ ~ - ~ lI~ ~ ~ ~ ' + ~ ( ~I - ~ ~ ) ] -I
128 h404

I
~ ~ - & - ~ * [ l +l ~ ~ - I I F e ~ f r
I
' - 384I
I
I
+ x ; ~ 48I ve:~V
( ~ VX)---I @ ~ + ~ ( -AZ-~)]
I

A,,-brl*{e'
-Ip.;++(nr;xv*:)l - -
'. t
I h
An~A,-l+3-An-,*v~ s 8 Tid
0

L I
-5

-
A,-An,,+-i."m-~*~+Tv~m*~@; h'm'
304 384
V& VAn-I + VIA1-I + V3All-, a

A,-k._l
I
+IAn-l*98:+TVAn*08f,t
I -6 hb'
192
+ 24 (VA,*VWm - WAR*Ve;) '

+ VIAn-1 + V''m-,
VA,
V'A, -
I.VAa-!
t'All-, 2- VAh-1 .+ t An-#
tv4&-1

-
173
 TABLE 4 . 4 . ERR5R PER 1NCREME;AT NOT ELIMINATED
BY NORMALIZATION /17O-l

N-ricd method 1 en',"

- A.-~~(I +T
I
q)
I
--(q~~'@:)-z~
ve; p v
q

A~ - ~,,-,mt~
-1 ve;
-I [.*;+, I
(ve: x v*:)]
= me^ me^
A,, = An-* l[I + +I ~ 9 :+ +(II - ~ i - ~ ) ]
I
-'(QTe;Ix v*:)+=i re; P W
A n n &-to ---48' (re; x vw;) +&Ire;f 0%
 TABLE 4.5. ACCUMULATED POSITION ERROR

AND RATE OF DEPARTURE /172-3

Accumulated Kate of
Nuoaerical nethod - position error (. departure IT 1
I I
 TABLE 4.5. ( CONTINUED)
--
Accumulated Rate of
Numerical method departure 14e
position error es

AnmAn-l +1 &I *9f4 + 1 94-98; I -$

I 0
e x dt* +
 BY converting (4.59) w i t h t h e h e l p of (4.531, (4.541, (4-56)s
we o b t a i n :
J~~=&,O[N~ + a ~ r ' ]...~ .IN,+ b~~']oR.o ...oB~oL-
Here :
fix:'
I
=--pa
.N + as,,)- N,
i s t h e e r r o r p e r increment remaining a f t e r n o r m a l i z a t i o n . The
e x p l i c i t form o f 6s: f o r t h e v a r i o u s n u m e r i c a l methods i s
p r e s e n t e d i n T a b l e 4.4. We n o t e t h a t i t i s t h i s component
which l e a d s t o 6he e r r o r i n c o n s t r u c t i n g t h e c o o r d i n a t e s y s t e m s .

Then, we have by analogy w i t h t h e p r e c e d i n g c a s e :

By r e p l a c i n g t h e sum b y t h e i n t e g r a l , we o b t a i ~ :
t

We r e p p e s e n t 6 ~ " ' w i t h t h e t r u e r o t a t ; ~ n v e c t ~ r 0 .
6 ~ "= cos T-W
1
+ C sin 5I dB.
Hence, we f i n d :

69= 2; arctg I vcct [ b ~ ' q I

sqal ( b ~ ( 9

6F) S 2 vect [bho].

The q u a n t i t y 6 9 d e t e r m i n e s t h e d e v i a t i o n o f t h e t r u e p o s i t i o n
o f t h e c o o r d i n a t e s y s t e m from t h e c a l c u l a t e d , i . e . , t h e
position error.

It i s e a s y t o see t h a t :

With c o n s i d e r a t i o n of t h i s , w e o b t a i n t h e f o l l o w i n g e x p r e s s i o n
f o r t h e a ~ c u m u l a t e de r r o r o f t h e t r u e r o t a t i o n ( " a n g l e t 1 ) v e c t o r :

The e x p l i c i t e x p r e s s i o n s f o r 68 and t h e r a t e s o f i t s d e p a r t u r e
f o r t h e v a r i o u s n u m e r i c a l methods a r e p r e s e n t e d i n T a b l e 4.5.

We n o t e t h a t t h e o r d e r o f magnitude o f 68 i s not l e s s t h a n
Z
h f o r a l l methods, i n c l u d i n g t h e E u l e r method.
/I76

S 4.5. N U M E R I C A L METHCDS O F I N T E G R A T I O N WITH V A R I A E L T 1.NCREMENTS

The i n p u t of i n f o r m a t i o n a b o u t t h e a n g u l a r v e l o c l t y i n t o a
computer r e q u i r e s t h e r c 3 r e s e n t a t i o n o f t h i s i n f o r m a t i o n i n
q u a n t i z e d form. I n p l a t f o r m l e s s s y s t e m s , a s a r u l e , t h e p r o c e s s
o f q u a n t i z i n g t h e a n g u l a r v e l o c i t y more precis el.^, t h e i n c r e -
ments o f t h e v e c t o r 8. c o i n c i d e s w i t h t h e measurement p r o c e s s .
I n o t h e r words, t h e i n f o r m a t i o n a t t h e o u t p u t o f t h e m e a s u r i n g
u n i t (sensors) of t h e angular v e l o c i t y i s represented i n t b n
form o f a q u a n t i z e d flow of i n c r e m e n t s ~ 8 "( q u a n t i z e d q c a n t i -
t i e s w i l l b e d e n o t e d by two a s t e r i s k s ) . Then, t h e e l e m e n t a r y
I
c
increment ( p u l s e ) i n a given channel * h a s t h e form:

%
where E i s t h e magnitude o f t h e quactum.

To e x e c u t e t h e a l g o r i t h m s o f t h e n u m e r i c a l i n t e g r a t i o n w i t h
constzint i n c r e m e n t , i t i s n e c e s s a r y t o accumul2te t h e e l t m e n t a r y
i n c r e m e n t s a t t h e computer i n p u t i n s p e c i a l r e g i s t e r s and t o
i n t e r r o g a t e t h e s e r e g i s t e r s p e r i o d i c a l l y ( a t t h e end o f t h e
following increm?nt).

F o r a s u f f i c i e n t l y fast computer r e s p o n s e , one can e x c l u d e

t h e p r o c e s s o f i n c r e m e n t a c c u m u l a t i o n and t a k e t h e end of t h e
f o l l o w i n g i n c r e m e n t of i n t e g r a t i o n from t h e i n s t a n t o f a d m i t t i n g
t h e f o l l o w i n g e l e m e n t a r y i n c r e m e n t from any o f t h e c h a n n e l s .
Then, o f c o u r s e , t h e magnitude o f t h e i n t e g r a t i o n i ~ l c r e m e n tw i l l
become a v a r i a b l e d e p e n d i n g on t h e r a t e of a d m i s s i o n o f t h e
e l e m e n t a r y i n c r e m e n t s at t h e computer i n p u t .

Under t h e s e c o n d i t i o n s , o ~ l : , .>n a p p l y d i r e c t l y t h e n u m e r i c a l
methods o f i n t e g r a t i o n u s i n g c 1 l l y t h e f i r s t d i f f e r e n c e s , i . e . ,
t h e o r d i n a r y and m o d i f i e d E u l e r mevhods ( 4 . 1 1 ) and ( 4 . 1 2 ) , t h e
a v e r a g e v e l o c i t y method ( 4 . 1 7 ) and t h e c o r r e s p o n d i n g methods
w i t h ncrm c o ~ ~ r e c t i o n .Th? f o r m u l a e f o r e v a l u a t i n g t h e e r r o r
d e r i v c d above are n o t d i r e c t l y a p p l i c a b l e i n t h i s c a s e .

We introduce t h e t o t a l r o t a t i o n angle:
i

a= J .(t,df
0
a s an i n d e p e n d e n t v a r i a b l e i n t h e k i n e m a t i c e q u a t i o n s . A s was
show^ i n p a r a g r a p h 3.4, t h e form o f t h o k i n e m a t i c e q ~ a t i o n si s

'C
* W e w i l l assume t h a t t h e c h a n n e l c o n t a i n s a s e n s c r a r 4 a
t r n n z f o r r . i n g d e v i c e which measure t h e p r o j e c t i o n o f t h e
a n g u l a r v e l o c i t y o n t o a g i v e n ax's.
m a i n t a i n e d w i t h s u c h a r e p l a c e m e n t , b u t t h e !-ole o f t h e a n g u l a r
v e l o c i t y v e c t o r ( i n o u r case @ e ) i s performed by i t s b a s i s
vect~rs:
.e = (em,, e, eJ
..

Thus, by cienotj-ng d i f f e r e n t i a t i o n by @ w i t h t h e p r i m e , we have

i n a c c o r d a n c e w i t h (3.741:

The f o r n o f a l l t h e f o m . u l a e o f t h i s c h a p t e r w i l l be m a i n t a i n e a
i n e x a c t l y t h e same way, e x c e p t t h a t i n p l a c e o f t h e i n c r e m e n t
i n time h, t h e incremeqt i n t o t a l r o t a t i o n angle g w i l l appear
i n t h e corresponding places.

Thus, t h e r e p l a c e m e n t o f t h e argument p e r m i t s one t o e x t e n d

t h e formulae of t h e preceding paragraphs t o t h e c a s e of v a r i a b l e
b, b u t c o n s t a n t g. Then:
vk8'&g
,-(&).
dl-'
dtk-'
When o p e r a t i n g f ~ o me a c h e l e m e n t a r y i n c r e m e n t , t h e i n c r e m e n t g:
g e n e r a l l y speaking, does n o t remain c o n s t a n t , b u t v a r i e s w i t h i n
s u f f i c i e n t l y narrow l i m i t s :
e<g+-e. 0

Let u s c o n s i d e r t h e average v a l u e of t h e increment g o ve r

some i n t e g ~ a t i o ni n t s r v a l . L e t t h e t o t a l number o f p u l s e s ( e l e -
mentary i n c r e m e n t s ) i n t h e i - t h c h a n n e l e q u a l Ki. We s e t :

On t h e o t h e r !land:
Then :

or finally :

where :

It i s n a t u r ~ lt o assume t h & t X . a n d , c o n s e q u t - t l y , gave

a r e s l o w l y c h a n g i n g v a r i a b l e s . I n t h i s c a s e , by a n a l o g y w i t h
( 4 . 5 8 ) and ( 4 . 6 0 ) , one c a n o b t a i n a n e s t i m a t e o f t h e a c c u m u l a t e d
e r r o r f o r o p e r a t i o n from t h e e l e m e n t a r y i n c r e m e n t s :

The e x p l i c i t e x p r e s s i o n s f o ? bh*, 6 8 and t h e r e s p e c t i v e r a t e s of

d e p a r t u r e f o r t h e v a r i o u s n u m e r i c a l methods a r e p r e s e n t e d i n t h e
T a b l e s 4.6 and 4.7.

By a n a l y z i n g t h e i n t e g r a t , i o n f o r m u l a e ( 4 . 1 1 ) , !4 . 1 2 ) , ( 4 . 1 7 )
and t h e c o r r e s p o n d i n g i n b e g r a t i o n f o r m u l a e w i t h norm c o r r e c t i o n ,
one can show t h a t f o r o p e r a t i o n from t h e i n c r e m e n t s , t h e i r
e x e c u t i o n l e a d s t o a c o m p a r a t i v e l y small volume o f c a l c u l a t i o n s
p e r i n c r e m e n t . F o r t h e o r d i n a r y and m o d i f i e d E u l e r m e t h o d s , one
s h o u l d s e l e c t f o r t h i s t h e magnitude o f t h e quantum e q u a l t o 2-h,
where k - i s a whole number. I n t h a t c a s e , t h e m u i t i p l i c a t i o n
o p s r a t i o n s a r e e l i m i n a t e d o r r e p l a c e d by d i s p l a c e m e n t s . F o r t h e
a v e r a g e v e l o c i t y method, i t i s a d v a n t a g e o u s , f o r t h e same
reasons, t o take:
e = 2 arcsin 2".
 TABLE 4.0. ACCUMUI-,ATED MAGNITUDE ERROR W I T H O P E R A T I O N
FROM ELEMElITARY I N C R E M E Y T S AND R A T E O F D E P A R T U R E

I Rate o f
Numerical method Accumulated e r r o r aa* dep.:rture -
6 ~ .
d
dl
I
l
a
AnmAp-l* -8! - e J x d @ -
I EX@
8
0

/ 1 1 %
'. a
An C= An-)* \ I +,Vet;-- 8 =')
I
-1
128
8'xb
0

-I 09;:
A~LI~I~-~OC? - -
-
8
e* -
~ n 5 ~ n -+
~f
1 I 2
~ v[e, 1 - - E8
.- I
--(I2 -1 8'
128
-
- -
TABLE 4 . 7 . ACCUMULATED POSITION ERROR AND RATE OF
DEPARTURE WITH OPERATION FROM ELEMENTARY INCREMENTS

Rate of
Numerical method Accumulated error departure d m
I

0
er dc, '
-I
12
~ A . ( ~ , ~ $ ax'ef~+lxl
).I~.~ w-
0
 On t h e o t h e r h a n d , t h e u s e o f r e g i s t e r s a t t h e i n p d t o f t h e
i n t e g r a t i n g d e v i c e p e r m i t s one t o a p p l y t h e n u m e r i c a l methods o f
h i g h o r d e r w i t h a c o m p a r a t i v e l y l a r g e i n c r e m e n t . The a v e r a g e
number o f o p e r a t i o n s p e r s z c o n d f o r t h e same e r r o r can t h e n b e
even l e s s t h a n f o r o p e r a t i c n w i t h t h e e l e m e n t a r y i n c r e m e n t s . Thus,
t h e s e l e c t i o n o f t h e i n t e p a 5 1 o r me:,!~od c a n be made o n l y on t h e
b a s i s o f a d e t a i l e d a n a l y s i s of t h e s p e c i f i c problem.

One s h o u l d a l s o k e e p i n mind t h a t under rea! c o n d i t i o n s , t h e

.i.nformztion b e i n g a d ~ n l t t e di - I t h e i n p u t o f t h e computer can con-
t a i n ncise. T h u s j 3ne s h o u l d a v o i d a l g o r i t h m s , which d i r e c t l y
o r i n d i r e c t l y use tho dif'ferenlilation operation. In t h i s sense
t h e a l g o r i t h m s ( ) + . 1 1 ) - ( 4 . 1 3 ) and ( 4 . 1 7 ) - ( 4 . 1 9 ) u s i n g t h e
approximate s o l u t i o n of t h e kinematic e q u a t i o n have d e f i n i t e
a d v a n t a g e s o v e r t h e c l a s s i c e l d i f f e r e n c e methods, i n c l u d i n g t h e
:ormulae ( 4 . 2 2 ) - (4.25). I n addition, t h e fu-ction WE(!) i t s e l f
w i l l n o t a l w a y s b e s u f f i c i e n t l y smooth a n d , i n t h i s c a s e , t h e
u s e o f t h e metkads o f h i g h o r d e r can e v e n i n c r e a s e t h e i n t e k ~ * a t i o n
error.

>.6. QUANTIZATION ERROR

The s p e c i f i c e r r o r c a u s e d by t h e f a c t t h a t t h e q u a n t i z e d
q u a n t i t y V8* i s u s e d i n p l a c e c f t h e t : , , , e v a l u e o f t h e vector. Ven
was n o t c o n s i d e r e d i n d e r i v i n g t h e f o r m u l a e ?f t h e p r e c e d i r ~ g
p a r a g r a p h s . The q u a n t i z a t i o n p r o c e s s OCCUL': q 1 . t s i d e t h e compu-
t e r . Thus, t h e q u a n t i z a t j a n e r r o r d o e s n o t c l p e n d e i t h e r on
t h e i n t e g r a t i o n i n c r e m e n t o r on t h e n u m e r i c a l method a p p l i e d ,
and i t r e s u l t s from t h e n o n c o m p ~ c a t i v i t y o f f i n i t e r o t a ' i o n
additicn *.
To e v a l u a t e t h e q u a n t i z a t i o n e r r o r , l e t us c o n s i d e r t k e
p l a n e r o t a t i o n s p e c i f i e d by t h e b a s l s v e c t o r .
Fur t h e p l a n e r o t z t i o n , t h e v e c t o r s 0, 8' and e.0 coincide,
thus :
A=&oe2
-I e.0 .
We d e n o t e t h e t o t a l . r o t a t i o n a n g l e p e r i n t e r v a l between
n e i g h b o r i n g p u l s e s i n t h e i - t h c h a n n e l by @ . Obviously:

To be d e f i n i t e , l e t :

Then, o b - " i o u s l y , :he number of p u l s e s Ki i n t h r i - t h channel p e r

i n t e r v a l Q, a a t j s f i c s t h e c o n d i t i o n :

Let us s e l e c t t h e i n t e r v 3 1 @ e q u a l i n g Then K1 . = 1; in
addition, on t h e a v e r a g e "aver s e v e r a l i n t e r v a l s :

R
An a d d i 5 i o n a l e r r o r component caused by r o u n d i n g o f f a r i s e s
i n t h e p r o c e s s o f c a l c 7 1 1 a t i o n i n d i g i t a l computers w i t h 3
f i n i t e r e g i s t e r l e n g t h . I t s magnitude depends on t h e inc-e-
ment l e n g t h , t h e number o f o p e r a t i o n s p e r i n c r e m e n t , t h e
rounding-off method, t h e number o f r e g i s t e r s , arid a l s o whethe?
t h e c a l c u l a t i o n s a r e b e i n g performed i n t h e f i x e d p o i n t o r
i n t h e f l o a t i n g p o i n t mode. T h i s component w i l l n o t be con-
sidered i n t h i s paragragh.
.Y
rhe q u a n t i t i e s Kn, K,, Kn c o n s i d e r e d F S a v e r a g e s o v e r some i n t e i v a l
e a n n o t , b e g e n e r a - l y s p e a k i n g , whole numbers.
185
 L e t u s c o n s i d a r t h e a v e r a g e number of p u l s e s i n t h e t h i r d
c h a n n e l between n e i g h b o r t n g p u l s e s i n t h e s e c o n d c h a n n e l :

To e v 3 l u a t e t h e e,n;*ora, one s h o u l d s p e c i f y t h e most unl'avorable

d i s t r i b u t i o n of p ~ l s t ap e r i n t e r v a l a . ;de assume t h a t "'2 3
p u l s e s a r e f i r s t aGmitted i n t h e t h i r d c h a n n e l , t h e n one p u l s e
i n t h e s e c o n d c h a n n e l . T h i s p r o c e s s i s x e p e a t ~ dK, t l m e s , a f t c r
L

which one p u l s e i s a d m i t t e d i n t h e f i r s t cl i . Such ?

s e q u e n c e o f p u i s e z ( e l e m e n t a r y i n c r e m e n t s , c o ? i ? o s ~ c n d st o t ' i e
quat;errlion :

A t t h e same tirne, t h e t r u e m o t i o n cori9espcrids t o t h e q u a t e r n i o n : /lF4

1

A = A o o e Tr*l*r,,

t h e m i s ~ a t c hq u a t e r n i o n e q u a l s :

Assuming t h a t :

a f t e r t h e c c r r e s p o n d i n g tl.ar.- r'ormations , he obtain:

A, = 1 + I e@ (ilea,sign ( e d +
1

+ i+, sign !e,J - Ig ,. sign (e,,;, 4- ...

From ( 4 . 6 1 ) , we h a v e :

or:
 k ~ a l o g o u sformulae can be o b t a i n e d , n o t only under t h e
c o n d i t i o n (4.62), b u t a l s o f o r any r e l a t i o n hetween @I. Q)h as.
The d i f f e r e n c e w i l l be only i n t h e number o f t h e corresponding
indi.?os.

The q c a n t i t i e s emi a r e t h e d i r e c t i o n c o s i n e s , t h u s :

and :

One can show t h a t t h e e s t i m a t e (4.64) remains v a l i d even

when t h e c o n d i t i o n (4.53) used f o r i t s d e r i v a t i o n i s v i o l a t e d .
It follows from formula (4.64) t h a t t o d e c r e a s e t h e
accumulated e r r o r i n t h e p o s i t i o n , i t i s necessary f i r s t t o
decrease t h e magnitude of t h e quantum. -
/185

4.7. STABILIZATION OF THE MAGNITUDE AND ANGLE I N THE POISSON

EQUATIONS.

A s i s known, t h e Poisson e q u a t i o n s (3.38) can be w r i t t e n

i n v e c t o r form. For example, f o r the l e f t group o f E q u a t i o n s
(3.381, we have:

where :
at = ( 1 1 a ) ~='(mlr % 03.

By analogy w i t h paragraph 4 . 2 , l e t us c o n s i d e r t h e e q u a t i o n
e q u i v a l e n t t o (4.65) f o r t h e unnormalized v e c t o r . The p o s i t i o n
of t h e body r e l a t i v e t o some a x i s w i l l b e of i n t e r e s t , whereas
t h e r o t a t i o n about it w i l l n o t . I n t h i s c a s e one can b e l i m i t e e
t o t h e one Equation (4.65):
;==axe.
 g It i s easy t o s e e t h a t i t i s e q u i v a l e n t t o t h e e q u a t i o n :
f.

F
i n t h e same s e n s e a s (4.31) and (4.32). By analogy w i t h (4.34)
i:
f o r s t a b i l i z i n g t h e magnitude, one can set:

where, f o r example:
f(a)= - k($- 1).

I n g e n e r a l , m e should s p e c i f y t h e p o s i t i o n s f t h e body
r e l a t i v e t o two noncoinciding axes:

The equivalence i s maintained and, f o r s t a b i l i z a t i o n o f t h e

magnitudes, one c a n r e p l a c e (4.66) by t h e e q u a t i o n s :

A t t h e same t i n e ss t h e s t a b i l i z a t i o n of t h e magnitudes o f
-
t h e v e c t o r s a p p e a r i i ? ~i n t h e Poisson e q u a t i o n , i t i s n e c e s s a r y /186
t o s t a b i l i z e t h e magnitude of t h e a n g l e between them. A c t u a l l y ,
by t a k i n g t h e s c a l a r product o f t h e first e q u a t i o n of (4.66) w i t h
b , t h e second - w i t h a and adding, w e have:

r
i-
1 d(.-&) -0.
5 p-

It
I

Pt For Equations (4.671, w e c b t a i n a c c o r d i n g l y :

i
#
3'
dt ( a . b ) = ( a - b ) U ( a ) + f (b11.

B We denoted w = cos(a, b)
h
. Then:
a-b=u6w.

*;,-- -- - .- .-m---------p---z- ---

1
Let us c o n s i d e r t h e derivative of w w i t h r e s p e c t t o t i m e . In

Thus, Equations (4.67) have t h e f i r s t i n t e g r a l :

U n f o r t u n a t e l y , with a dr?viation of from t h e given v a l u e ,

t h e e q u i v a l e n c e , i n t h e s e n s e as we have s t a t e d t. ,ve, does not
occur. A c t u a l l y , f o r W # * O it i s n o t c l e a r which o f t h e v e c t o r s
d e v i a t e s from t h e i n i t i a l d i r e c t i o n and i n what d i r e c t i o n . Thus,
i t i s n o t c l e a r without a d d i t i o n a l assumptions how t h e p o s i t i o n
of t h e body i s t o be r e c o n s t r u c t e d i n t h i s c a s e .

I n s p i t e of t h i s f a c t , one can c o n s t r u c t s t a b l e c o n t r o l of
t h e q u a n t i t y w which maintains w x go. Then, one s h o u l d t a k e c a r e
t h a t t h e p r o c e s s s t a b i l i z i n g w and t h e magnitudes proceed as inde-
pendently a s p o s s i b l e . To e l i m i n a t e t h e indeterminacy, which was
t h e t o p i c of d i s c u s s i o n above, one can r e q u i r e , f o r example, t h a t
i n t h e c o n t r o l p r o c e s s t h e v e c t o r s a and b move i n o p p o s i t i o n along
t h e s h o r t e s t p a t h w i t h t h e same v e l o c i t y .

With t h i s t a k e n i n t o a c c o u n t , we proceed t o c o n s t r u c t i o n
of t h e c o n t r o l law. The magnitude s t a b i l i z a t i o n p r o c e s s i s n o t
v i o l a t e d , i f t h e s t r u c t u r e of t h e Equations (4.67) i s maintained.
T ~ U S ,we set: 1187 -

where ~n i s t h e a n g u l a r v e l o c i t y of t h e c o r r e c t i o n . For Y n = O
Equation (4.68) c c i n c i d e s w i t h ( 4 . 6 7 ) . By t a k i n g t h e s c a l a r
product of t h e first e q u a t i o n of ( 4 . 6 8 ) w i t h a, and t h e second -
with b , we have:
By analogy:

where (k)
d e ~ o t e st h e s c a l a r t r i p l e product of t h e v e c t o r s
a, b, * .
I n o r d e r t h a t t h e motion o f t h e v e c t o r s a and b proceec!
along t h e s h o r t e s t p a t h , w e seS :

%=.A (a x b). (4.70)

As a p r c p o r t i o n a l i t y c o e f f i c i e n t , w e t a k e an odd f u n c t i o n of t h e
mismatch (w-WO) , for example:

With c o n s i d e r a t i o n o f (4.70) and (4.71), we have a f t e r some

transformat i o n s :
--
dm
dt --2k(l--rrr3(~-ppd. (4.72)
Equations (4.68) t a k e t h e form:
-

I
R
, i=aj(a)+axa- z[bd-a(a. b)](w-*3.
k
$= bf(b)+ b x r - =[UP- b ( a . b)](w-cud.

Obviously, (4.69) and (4.72) are independent.

To prove t h e s t a b i l i t y , we t a k e t h e Lyapunov f u n c t i o n i n
t h e form: /i88
I n accordance w i t h Equations (4.73) o r , t h e same t h i n g , (4.69) and
( 4 . 7 2 ) , we hsve:
--
dl
-2aa(4- l)f(a)+
+2$b(b-I)f(b)-4ky(l-~?)(w-m4#.

S l n c e a > 0 and b > O , it i s sufficient t o require for s t a b i l i t y

that :
(a- l)f(a)<O f o r - a#1.
(b-l)f(b)<O f o r b#l,
k>O, +#I.

F9r p r a c t i c a l purposes it i s s u f f i c i e n t t h a t t h e e q u a t i o n s
b e independent only i n f i r s t approximation i n magnitude and
a n g l e . Thus, t h e Zquaticjns (:..73) can b e soclewhat s i m p l i f i e d .
F i r s t ; , Gne can s e t a = b kr 1 and a - b s w o i n t h e b r a c k e t s i n t h e
e x p r e s s i o n . Then:

F u r t h e r , one car1 r e p l a c e (w-mo) approximately w i t h (a-b-WO), s o

that :

I n t h e important s p e c i a l c a s e when t h e v e c t o r s a 2nd b

..
must b e mutitally p e r p e n d i c u l a r , i e , when wo = 0 , Equations ( 4.75)
t a k e t h e s i m p l e r form:

One can show t h a t t h e s i m p l i f i e d v e r s i o n s of t h e Equations

(4.74) -
(1!.76) a r e s t a b l e , a l t h o u g h t h e r e g i o n of s t a b i l i t y
i s narrower t h a n f o r ( 4 . ? 3 ) .

Equations (4.73) -
(4.76) a r e r:,ore complicated t h a n , f o r
example, (4.36). Nonetheless, a q u i t e e f f i c i l n t algorithm f o r
 i

numerical i n t e g r a t i o n can be c o n s t r u c t e d f o r them, The use o f t h e

Poisson e q u a t i o n s w i t h s t a b i l i z a t i o n of t h e magnitude and a n g l e
i s p a r t i c u l a r l y convenient when a s p e c i f i c p h y s i c a l meaning can
be a t t r i b u t e d t o t h e v e c t o r s a and b , f o r example, when t h e
o r i e n t a t i o n of r i g i d body i s i n v e s t i g a t e d r e l a t i v e t o t h e
d i r e c t i o n s toward two given s t a r s .
 CHAPTER 5

USE OF QUATERNIONS I N PROBLEMS OF RIGID BODY

MOTION CONTROL
3
The k i n e m a t i c p a r a m e t e r s a r e general3 ~ e cd o o r d i n a t e s per-
-~
-. rllitting one t o d e s c r i b e t h e a n g u l a r mc'-?.on o f a r i g i d body.
@
..- On t h e o t h e r hand, t h e k i n e m a t i c p a r a m e t e r s have found a ? p l i c a -
t i o n i n problems o f a n g u l a r p o s i t i o n c o n t r o l o f a r i g i d body
... d u r i n g i t s motion. The s i g n a l o f t h e a n g u l a r d e v i a t i o n o f t h e
r i g i d body from a given p o s i t i o n i n t h e c o n t r o l system i s a
f u n c t i o n o f t h e k i n e m a t i c p a r a m e t e r s . We w i l l c o n s i d e r , i n
g e n e r a l form, an automatic c o n t r o l system o f r i g i d body motion
t about i t s c e n t e r of mass. The system s h o u l d c o n s i s t of a n g u l a r
4 ,

... p o s i t i o n s e n s o r s , which determine t h e a n g u l a r p o s i t i o n ( o r i e n t a -

t i o n ) of t h e body r e l a t i v e t o a given c o o r d i n a t e system and supply
t h e a n g u l a r d e v i a t i o n s i g n a l , a f u n c t i o n e l c o n v e c t o r , which
+
&,?, '2 shapes t h e c o n t r o l l i n g s i g n a l from t h e a n g u l a r d e v i a t i o n s i g n a l ,
$- and f i n a l l y , a c o n t r o l l i n g d e v i c e , w i t h t h e h e l p of which t h e
%.
5 a n g u l a r p o s i t i o n of t h e r i g i d body can b e changed. The d e s c r i b e d
9.. c o n t r o l system forms t h e o r d i n a r y c l o s e d c i r c u i t o f a u t o m a t i c
f;
c o n t r o l ; a n g u l a r p o s i t i o n c o n t r o l systems f o r s p a c e c r a f t ,
g
a i r c r a f t , r o c k e t s , s h i p s , e t c . a r e c o n s t r u c t e d i n j u s t t h i s form.
'.$
@
B
We w i l l c o n s i d e r t h e q u 2 s t i o n o f o b t a i n i n g t h e a n g u l a r
d e v i a t i o n s i g n a l s f o r a r i g i d body r e l a t i v e t o a given c o o r d i n a t e
system ( r e f e r e n c e b a s i s ) .
T r a d i t i o n a l l y , f u n c t i o n s o f t h e Krylov a n g l e s o r of t h e
E u l e r a n g l e s have been most f r e q u e n t l y used as t h e s e s i g n a l s .
T h i s i s r e l a t e d t o t h e f a c t t h a t , f i r s t o f a l l , one h a s had t o
u s e g y r o s c o p i c d e v i c e s , which have Cardan s u s p e n s i o n s , i n
a u t o m a t i c a n g u l a r p o s i t i o n c o n t r o l systems i n a d i f f e r e n t way.
Such d e v i c e s p e r m i t one t o measure t h e r o t a t i o n a n g l e s o f t h e
a x e s o f t h e 2ardan r i n g s , which a r e t h e E u l e r and Krylov a n g l e s .

The development of c o n t r o l t e c h n o l o g y and, i n p a r t i c u l a r

s p a c e t e c h n o l o g y h a s l e d t o t h e appearance o f a n g u l a r p o s i t i o n
s e n t o r s o f non-gyroscopic t y p e s . Examples of such s e n s o r s are /191
o p t i c a l s e n s o r s f o r o r i e n t a t i o n toward t h e c e n t e r s o f p l a n e t s
o r t h e s u n , s t e l l a r o r i e n t a t i o n s e n s o r s , e t c . The a n g u l a r m i s -
match s i g n a l s determined by t h e s e s e n s o r s a r e f u n c t i o n s of t h e
d i r e c t i o n c o s i n e s , and n o t t h e E u l e r a n g l e s . When computers
a r e used i n t h e c o n t r o l s y s t e m and t h e d e t e r m i n a t i o n o f t h e a n g u l a r
p o s i t i o n of t h e body i s c a r r i e d o u t b y i n t e g r a t i n g t h e k i n e m a t i c
e q u a t i o n s , as o c c u r s i n ? l a t f o r m l e s s c o n t r o l s y s t e m s , any k i n e -
m a t i c p a r a m e t e r s can be used as t h e a n g u l a r mismatch s i g n a l s . The
form o f t h e k i n e m a t i c p a r a m e t e r s i n t h i s c a s e w i l l b e d e t e r m i n e d
by t h e t y p e o f k i n e m a t i c e q u a t i o n s b e i n g i n t e g r a t e d .

Thus, i t i s p o s s i b l e i n p r i n c i p l e t o use v a r i o u s k i n e m a t i c
p a r a m e t e r s i n c o n t r o l problems. The u s e of q u a t e r n i o n s a p p e a r s t o
b e t h e most c o n v e n i e n t f o r two r e a s o n s . Firstly, the investiga-
t i o n o f t h e s t a b i l i t y o f t h e o r i e n t a t i o n p r o c e s s e s performed w i t h
t h e u s e o f Rodriguez-Hamilton p a r a m e t e r s p e r m i t s one t o judge t h e
s t a b i l i t y of t h e system a s a whole. Q u a t e r n i o n s p e r m i t one t o
f i n d t h e most g e n e r a l form o f ~ h fe u n c t i o n a l dependences e n s u r -
i n g s t a b l e c o n t r o l . Secondly, t h e q u a t e r n i o n components can b e
used a s c o n t r o l l i n g s i g n a l s , which can t a k e p l a c e when t h e s e
p a r a m e t e r s a r e c a l c u l a t e d i n t h e c o n t r o l systems. The u s e o f
t h e q u a t e r n i o n components as c o n t r o l s i g n a l s p e r m i t s one t o
o b t a i n n o t o n l y s t a b l e c o n t r o l of t h e a n g u l a r motion o f a r i g i d
body, b u t a l s o , i n a number of c a s e s o f c o n t r o l , t h e y a r e
s u f f i c i e n t l y c l o s e t o t h e optimum ( c f . c h a p t e r 6 ) .
.
+.- s

w By t h e problem of r i g i d body o r i e n t a t i o n i n some given

f
r e f e r e n c e c o o r d i n a t e system I , we w i l l u n d e r s t a n d t h e problem
i
I
of r e d u c i n g t h e body c o o r d i n a t e system E t o t h e r e f e r e n c e system.
We w i l l c o n s i d e r two f o r m u l a t i o n s of t h e o r i e n t a t i o n problem;
-$. k i n e m a t i c and dynamic.

I n t h e f i r s t c a s e we w i l l assume t h a t t h e o r i e n t ~ t i b np r o c e s s
i n c l u d e s i m p a r t i n g t o t h e c o o r d i n a t e system E t h e a b s o l u t e
c o r r e c t i o n a n g u l a r v e l o c i t y R,, whose purpose i s t o change t h e /I92
o r i e n t a t i o n of t h e b a s i s E i n such a f a s h i o n a s t o cause i t s
coincidence w i t h t h e c o o r d i n a t e system I. The p r o c e s s o f r e d u c i n g
t h e b a s i s E t o t h e b a s i s 1, which o c c u r s because o f t h e p r e s e n c e
of t h e a n g u l a r v e l o c i t y Q n , w i l l b e c a l l e d , by convention, t h e
c o r r e c t i o n p r o c e s s . Such a f o r m u l a t i o n w i l l be c a l l e d t h e k i n e m a t i c
F o r i e n t a t i o n problem. I n p r a c t i c e it i s very c l o s e t o t h e problem
.
a. of o r i e n t a t i o n and c o n t r o l o f t h e a n g u l a r p o s i t i o n o f a r i g i d
F
e
r:
body. A c t u a l l y , an o r i e n t a t i o n c o n t r o l system, f o r example, o f
6'.

a s p a c e c r - i f t , c o n t r o l s t h e magnitude of i t s a n g u l a r v e l o c i t y
which i s s p e c i f i e d a s a f u n c t i o n o f t h e a n g u l a r d e v i a t i o n of t h e
5
z c r a f t from t h e r e q u i r e d p o s i t i o n . I n s p i t e of t h e f a c t t h a t
c o n t r o l i s a c t u a l l y accomplished by a p p l y i n g c o n t r o l l i n g korques
k t o t h e body (from r o c k e t e n g i n e s o r by changing t h e a n g u l a r momentum
1 of i n t e r n a l masses), t h e n a t u r e o f t h e motion w i t h r a t h e r l a r g e
a c c e l e r a t i o n s from t h e c o n t r o l l i n g t o r q u e i s c l o s e t o t h a t whish
w i l l be c o n s i d e r e d i n t h e k i n e m a t i c o r i e n t a t i o n problem.

I n t h e second c a s e , t h e dynamic o r i e n t a t i o n problem, i t w i l l

be assumed t h a t t h e magnitude of t h e c o n t r o l l i n g t o r q u e M a p p l i e d
t o t h e r i g i d body i s t h e c o n t r o l , and n o t t h e c o r r e c t i o n a n g u l a r
v e l o c i t y QH . The c o n t r o l l i n g t o r q u e causes a c o r r e s p o n d i n g
motion of t h e r i g i d body; t h e purpose o f t h e o r i e n t a t i o n i s
s t i l l t h e c o i n c i d e n c e o f t h e body b a s i s w i t h t h e r e f e r e n c e .
 i
I

Types o f c o n t r o l , i , e . , t h e form o f t h e f u n c t i o n a l dependences

of and M e n s u r i n g t h e performance of t h e o r i e n t a t i o n p r o c e s s ,
w i l l be i n v e s t i g a t e d i n t h i s c h a p t e r . The s t a b i l i t y of t h e c o n t r o l
p r o c e s s w i l l be i n v e s t i g a t e d ; i t w i l l be shown t h a t f o r some
types of control t h e kinematic conditions f o r s t a b i l i t y a r e I
2:.
B
n e c e s s a r y c o n d i t i o n s f o r dynamic s t a b i l i t y a s w e l l .

5.1. DEPENDENCE OF THE CJNTROL SIGNALS ON THE KINEMATIC PARA--

I
$?
Q'
P;
METERS
I'

?
,... A n e c e s s a r y c o n d i t i o n f o r s o l v i n g t h e o r i e n t a t i o n problem
i!
.,- i s t o o b t a i n c o n t r o l s i g n a l s c h a r a c t e r i z i n g t h e a n g u l a r mismatch
fi
of t h e r i g i d body c o o r d i n a t e system E and t h e r e f e r e n c e system I.
A c t u a l l y , t h e c o n t r o l o f r i g i d body o r i e n t a t i o n i s based on 119 3
d
measurements of s e v e r a l a n g u l a r p o s i t i o n s e n s o r s , which determine
9.'
.$
*' t h e p o s i t i o n o f t h e body axes r e l a t i v e t o c e r t a i n d i r e c t i o n s i n
&'
2
>,
space ( t h e d i r e c t i o n toward a p l a n e t , t h e s u n , a s t a r , space-
J'
$y
c r a f t , e t c . ) . We w i l l assume f o r g e n e r a l l t y t h a t t h e a n g u l a r
$ p ~ s i t i o ns e n s o r s determine t h e p o s i t i o n of t h e axes ik of t h e
$
basis I linked t o the orientation .lirections.

We w i l l d i s t i n g u i s h two t y p e s of o r i e n t a t i o n : an o r i e n t a t i o n ,
i n which t h e b a s i s I i s an i n e r t i a l n o n - r o t a t i n g c o o r d i n a t e
system, c a l l e d i n e r t i a l ~ ~ r i e n t a t i o nand, an o r i e n t a t i o n i n a
r o t a t i n g c o o r d i n a t e system when t h e b a s i s I performs t h e g i v e n
r o t a t i o n . I n e i t h e r c a s e t h e o u t p u t s i g n a l s of t h e s e n s m s csn
determine one, two o r t h r e e a n g u l a r c o o r d i n a t e s o f t h e b a s i s
mismatch,

We w i l l assign t o each output s i g n a l a d i r e c t i o n f o r t h e

s e n s o r response a x i s i n such a f a s h i c n t h a t only t h i s output
s i g n a l a r i s e s w i t h r o t a t i o n about t h i s a x i s from t h e coincidence
p o s i t i o n of t h e b a s e s E and I. It i s c l e a r from general considera-
tions that for spatial (triple-axis) orientation i t i s necessary
t o have no l e s s t h a n t h r e e s i g n a l s from s e n s o r s whose r e s p o n s e
axes do n o t l i e i n one p l a n e ( t h e y form a s p a t i a l b a s i s ) .
o u t p u t s i g n a l s of t h e a n g u l a r p o s i t i o n s e n s o r s can be r e ser!t
a s f u n c t i o n s of t h e k i n e m a t i c p a r a m e t e r s c h a r a c t e r i z i n g r.he
r e l a t i v e p o s t t i o n of t h e b a s e s .

We w i l l c o n s i d e r v a r i o u s methods f o r r e p r e s e n t i n g t h e o u t p u t
s i g n a l s of t h e a n g u l a r p o s i t i o n s e n s o r s .

Let t h e t r a n s i t 5 o n from t h e system I t o t h e s y ~ t e mE be

determined w i t h t h e h e l p of some k i n e m a t i c p a r a m e t e r s and be
r e p r e s e n t e d by t h e m a t r i x A e x p r e s s e d i n terms of t h e Krylov
a n g l e s ( 2 . 7 0 ) o r q u a t e r n i o n components ( 1 . 1 9 ) . Obviously, one
s e t o f p a r a m e t e r s can b e e x p r e s s e d i n terms of t h e o t h e r s e t ;
however, we w i l l c a n s i d e r only t h o s e parameters which a r e
p h y s i c a l l y measurable q u a n t i t i e s .

When t h e o r i e n t a t i o n i s accomplished w i t h t h e h e l p of a
three-stage gyrostabilized platform, t h e a x i a l p o s i t i o n of
xbose Cardan s u s p e n s i o n corresponds t o t h e s e l e c t e d sequence /I94
of Krylov a n g l e s ( F i g u r e 5.1), t h e o u t p u t s i g n a l s w * . l l be
s i s n a l s t a k e n from a n g l e gauges on t h e s u s p e n ~ t o na x e s . These
s i g n a l s w i l l b e d!rect f u n c t i o n s o f t h e Krylov a n g l e s 6, q and
\ P : f t ( e ) , f z ( q ) , f 3 ( 9 ) . Thus, f o r example, w i t h t h e u s e o f i n d u c t i v e
angle gauges we w' 11 have:
f,(@)=sin@, fl(q)=sinq, f3(g)=sinf.

We n o t e t h a t t h e d i r e c t i o n of each o u t p u t s i g n a l of t h e
gyroplatform f i . e . , t h e r e s p o n s e a x i s , w i l l be t h e c o r r e s -
k '
ponding a x i s of t h e Cardan s u s p e n s i o n , and o r i e n t a t i o n w i t h t h e
h e l p of t h e g y r o p l a t f o r m can be accomplished e v e r y ~ h e r e ,
except when two axes of t h e Cardan s u s p e n s i o n c o i n c i d e .

A s a n o t h e r example, l e t us c o n s i d e r a s e n s o r made i n t h e
form of a s i g h t i n g d e v i c e i n a double-stage Cardan s u s p e n s i o n
( F i g u r e 5 . 2 ) . The s i g n a l s of a n g l e gauges on t h e s u s p e n s i o n axes
can be t h e o u t p u t s i g n a l s of t h i s s e n s o r . I f t h e 3equence o f
a n g l e s f o r t h e t r a n s i t i o n from t h e s e n s o r c o o r d i n a t e system t o
t h e o b j e c t axes corresponds t o t h e sequence c o n s i d e r e d above
( c f . F i g u r e 5.1, i n which t h e t h i r d angle i s t a k e n e q u a l t o z e r o ) ,
t h e n t h e measured a n g l e s w i l l be 3 and 9 . Accordingly, t h e
response axes of such a s e n s o r a r e a r r a n g e d a l o n g t h e s u s p e n s i o n
axes.

One can c o n s i d e r t h e sensola f i x e d i n t h e axes of t h e b a s i s

E and s i g h t i n g i n some d i r e c t i o n , which can be t h e d i r e c t i o n
toward t h e p l a n e t , th. Sim, a s t a r , e t c . I n t h i s more geneiXaJ
c a s e , t h e o u t p u t s i g n a l s of such a s e n s o r w i l l b e f u n c t i o :
t h e d i r e c t i o n c o s i n z s of t h e s i g h t i n g l i n e w i t h ;he axes -I; t n e
c o o r d i n a t e system E. Thus, i f il i s t h e s i g h t i n g a x i s and t h e
o p t i c a l a x i s of t h e s e n s o r i s p l a c e d a l o n g +?e e l a x i s , t h e n
.
t h e output s i g n a l s w i l l be t h e f u n c t i o n s f l ( e 2 . i l ) and f2(e3.fl)
Obviously, t h e t h i r d c o s i n e e l . i l does n o t c a r r y i n f o r m a t i o n about
t h e d i r e c t i o n of t h e d e v i a t i o n o f t h e a x i s e l from il, b e i n g a t
t h e same t i m e a measure of t h i s d e v i a t i o n .

The p o s i t i o n of t h e s e n s o r r e l a t i v e t o t h e a x e s of t h e
c o o r d i n a t e system E i s c h a l a a c t e r i z e d by two of i t s response a x e s
5 , and 5 , ( F i g u r e 5 . 3 ) . The s i g n a l s f l and f 2 w i l l a r i s e w i t h a
d e v i a t i o n from t h e s i g h t i n g d i r e c t i o n by a r o t a t i o n about t h e
axes t~ and & , r e s p e c t i v e l y . A small a n g l e d e v i a t i o n o f t n e
b a s i s E frcm t h e g i v e n p o s i t i o n , which i s determined by t h e
s m a l l r o t a t i o n v e c t o r 0 , can be p a r t i a l l y measured by t h e
s e n s o r . The o u t p u t s i g n a l s o f t h e cencor w i l l depend on t h e
q u a n t i t i e s O ' t ~an9 O a t , , which a r e t h e d i r e c t i o n c o s i n e s of
 t h e response zxes 81 and &
with t h e angular deviation vect ~ r .
Obviously, siich 2 two-coordinate
s e n s o r measures o n l y t h e compor~ents
of t h e a n g u l a r d e v l a t i o n , which i s
n o t a r o t a t i o n about t h e a x i s o f
t h e s i g h t i n g l i n e , ar!d does n o t
g i v e complete i n f ormat,ion about
t h e a n g u l a r mismatch. The v e c t o r
8 can be measured completely only
F i g u r e 5.1.
when t h e r e a r e no l e s s t h a n t h r e e
r e s p o n s e axes not l y i n g i n one
plane.

For t h r e e - a x i s o r i e n t a t i o n of a r i g i d body i t i s n e c e s s a r y
t o hdvt i n f o r m a t i o n about t h e d e v i a t i o n of two a x e s , say e l and e 2 ,
from t h e r e f e r e n c e b a s i s . I f a f i x e d s e n s o r , whose response axes 1196
a r e a r r a n g e d a l o n g t h e axes of t h e b a s i s E , i s connected t o each
a x i s , t h e n t h e o u t p u t s i g n a l s of t h i s s e n s o r w L l l be f u n c t i o n s
of t h e d i r e c t i ~ nc o s i n e s between t h e axes ik and ek. By u s i n g
formulae ( l . l g ) , we can w r i t e t h e followLng r e l a t i o n s f o r t h e
b. Pection c o s i n e s :
/; -
11. e2= 2 (A1A2 - Lo&), 42 . e; = 2 (A3& Aohl),
/ i ~ . e 3 = 2 ( A ~ S + A ~ h ) , )i3-el=2(1,&-?.0A2),
.
/' 12 = 2 (ho?-34- AIA~), 13 . eq = 2 (A3& + &Al). (5.1)

Figure 5.2. Figure 5.3.

 Iri t h e case of s m a l l d e v i a t i o n s o f t h e b a s i s E frcm t h e
b a s i s I , w e o b t a i n , by comparing (2.701, (1.19) and (2.1) w i t h
c o n s i d e r a t i o n o f q u a t i t i e s of first o r d e r r e l a t i v e t o t h e
s p a t i a l r o t z t i o n a n g l e only :
Q*q-i2* - C Z - ~ ~ = ~ A & .
g = + - i 3 = -e3'i*-2aOAI*
9 %e 3 - i l= - e l - i 3 = 2 &

These r e l a t i o n s l i n k t h e v a r i o u s kinematic parameters f o r t h e

case of small d e v i a t i o n s . I n p r a c t i c e , t h e y a l s o have v a l u e f o r
d e s c r i b i n g t h e f u n c t i o n a l dependences of t h e s e n s w o u t p u t
s i g n a l s , s i n c e a m a j o r i t y o f s e n s o r s h a ~ ean output c h a r a c t e r i s t i c
with a s m a l l " l i n e a r " r e g i o n , i n which t h e o u t p u t s i g n a l c a r r i e s
information about t h e magnitude of t h e d e v i a t i o n angle. I n t h e
remaining "operating1' r e g i o n , a s a r u l e , t h e s e n s o r given informa-
t i o n only about t h e s i g n of t h e d e v i a t i o n ; t h e o p e r a t i n g r e g i o n
w i l l a l s o b e p ~ r t i a l l yl i m i t e d . I n accordance w i t h t h i s , the
output c h a r a c t e r i s t i c cf a s e n s o r can be r e p r e s e n t e d a s a
f u n c t i o n of t h e quantit:es ( 5 . 2 ) .

The relations ( 5 . 2 ) i n d i c a t e t h a t t h e q u a n t i t i e s 1d.t. can be

used f o r c o n t r o l s l o n g w i t h t h e a n g l e s 3 , 'P and JI t r a d i t i o n a l l y
used. A s t r i c t j u s t i f i c a t i o n ~f t h i s a s s e r t i o n w i l l b e given
below. The c o n t r o l s i g n a l s shaped on t h e b a s t s o f t h e o u t p u t
s i g n a l s of t h e a n g u l a r p o s i t i o n s e n s o r s w i l l be s p e c i f i e d a s
f u n c t i o n s of t h e quantities (5.1) o r (5.2) i n t h e f o l l o w i n g
conbiderations .
5.2. KINEMATIC PROBLEM OF ORIENTATION I N AN INERTIAL
COORDINATE SY YTEM -
/I97

We w i l l c o n s i d e r t h e kinematic problem o f r i g i d body o r i e n t a -

t i c n i n t h e b a s i s I , an i n e r t i a l c o o r d i n a t e system. Let t h e
motion body b a s i s K r e l a t i v e t o t h e basis I b e described by t h e
quaternion .\(I) and t h e absolute angular v e l o c i t y of r o t a t i o n ~f
t h e b a s i s E be equal t o Q, , t h e c o r r e c t i o n v e l o c i t y g e n e ~ a t e d
from t h e angular p o s i t i o n s e n s o r s i g n a l s .

W e w i l l i n v e s t i g a t e t h e process of reducing t h e system E

t o t h e i n e r t i a l system I f o r various dependences of t h e c o r r e c t -
i o n s i g n a l s on t h e kinematic parameters and w i l l f i n d t h e r e q u i r e -
ments on t h e c o n t r o l , which ensure s t a b i l i t y of t h e c o r r e c t i o n
system. The kinematic equations i n t h e form (3.11) w i l l be
t h e equations of motion of t h e b a s t s E r e l a t i v e t o t h e b a s i s I,
s i n c e t h e c o r r e c t i o n v e l o c i t y Qv i s s p e c i f i e d i n t h e axes of t h e
b a s i s E by t h e c o n t r o l system, which c o n t r o l s t h e magniSudes of
t h e angular v e l o c i t y p r o j e c t i o n s Qa ( i = 1,2,3) onto t h e body axes
We w i l l w r i t e t h e s e e q u ~ c i o n si n s c a l a r form:
2h = - - - &Q..,,
+ -
2i1= AoQs I Wt3 2-3Qe.
2 ~=2 w* + AJQI'I - ~IQ*. (5.3)
'ri3= w,+ A,%, - a,. ,
We w i l l i n v e s t i g a t e t h e s c f f i c i e n t c o n d i t i o n s f o r o r i e n t a -
t i o n s t a b i l i t y and t h e form o f t h e f u n c t i c n a l depecdesces of t h e
q u a n t i t i e s Q M , which ensure such o r i e n t a t i o n -

I. We i n t r o d c c e t h e p o s i t i v e - d e f i n i t e function:

This function vanishes f o r t h e o r i e n t e d p o s i t i o n of t h e

r i g i d body, i . e . , when t h e bases E and I coincide ( t h i s p o s i t i o n
corresponds t o t h e quaternion (1, 0 , 0, 0 ) ) ; f o r a l l o t h e r
p o s i t i o n s of t h e b a s i s E r e l a t i v e t o t h e r e f e r e n c e b a s i s I, i t
has a p o s i t i v e value. The d e r i v a t i v e of t h i s f u n c t i o n , which i s
composed i n accordance with t h e equations of motion (5.3), w i l l
 equal.

e w i l l f i r s t consider t h e case when t h e quaternion components

W
a r e used f o r c o n t r o l , i - e . , t h e c o n t r o l l i n g s i g n a l is generated
as a f u n c t i o n of t h e q u a n t i t i e s A, (j= 1.2. 3) . This case can occur
when t h e components L, a r e c a l c u l a t e d i n t h e c o n t r o l system.

The r e l a t i o n s (5.2) show t h a t t h e q u a n t i t i e s ;gi.,, which

coincide with t h e corresponding angles f o r small d e v i a t i o n s , s e r v e
a s measures of t h e angular d e v i a t i o n . I f one t a k e s i n t o account
t h a t two q u a t e r n i m s ( A and +) correspond t o one p o s i t i o n o f t h e
body, t h e n one can s e e t h a t t h e q u a n t i t i e s iai, c a r r y i n f o m a -
t i o n about t h e d i r e c t i o n of t h e s h o r t e r s p a t i a l t u r n , whose
magnitude i s l e s s than n .

I n t h e case of l i n e a r c o r r e c t i o n , t h e magnitude of t h e
c o ~ r e c t i o nangular v e l o c i t y should be given i n t h e form:

One can s e e t h a t f o r kj > O t h e d e r i v a t i v e (5.5) w i l l b e a neg&-

t i v e - d e f i n i t e form everywhere, except f o r t h e o r i e n t e d p o s i t i o n :

Thus, t h e function (5.4) i s a Lyapunov f u n c t i o n , and t h e Equation

(5.6) ensures an asymptotic convergence of t h e c o r r e c t i o n process
t o t h e equilibrium p o s i t i o n , i . e . , t o t h e p o s i t i o n A = ( ' * 0* 0- O) ,
over t h e whole region of v a r i a t i o n of A, except f o r t h e p o i n t
14 = 0 ( g e n e r a l l y speaking, t h e point 24 = 0 corresponds t o some
region of p o s i t i o n s ) .
+
 As f o l l o w s from t h e r e l a t i o n (5.6), t h e v e l o c i t y Q,, a l s o
vanishes f o r 4 = 0 ; t h e d e r i v a t i v e *a l s o vanishes. This
s t a t e i s a p o s i t i o n o f m s t a t l e e q u i l i b r i u m . To determine t h e
&.
f n a t u r e of t h i s p o i n t , w e set kj = k ; i n t h i s case :

%.

5. By i n t e g r a t i n g + - i s equation, w e obtain:
P.

where Wo e q u a l s t h e value W a t t h e i n i t i a l t i m e . Hence, i t i s

s
g s e e n t h a t t h e r a t e of convergence depends on t h e c o r r e c t i o n
c o e f f i c i e n t k , and W(t), and W ( t ! t e n d s t o z e r o w i t h k B 0 f o r t h e
& i n f t i a l v a l u e s wo'< 1. 3 b v i o u s l y , W cannot b e one anywhere, except
at t h e p o i n t 4 - 0 ; f o r i19 = 1, w e have W(t) I. -
'Let Vo= 1-6 , where 6 i s a n i n f i n i t e s i m a l ; then:

i.e. , the s i n k u i a r p o i n t b = 0 i s an u n s t a b l e zode.

".
C o n t r ~ lhy t h e q u a n t i t i e s i.ol-j w i l l be a ~ ~ . m p t o t I C a l sl yt a b l e
nofi3insar c o r r e z t i c n f u n c t i o n s as w e l l .

Let t h e c o n t r o l have t h e form:

Q', = k,F/ 0.q)QI(A,).

where t h e f u n c t i o n s F . ( x ) and s a t i s f y t h e conditions:

3

We w i l l helicc?foz*th s a y t h a t Equation <5.?) belongs t o t h e c l a s s

(5.8). F o r such c o n t r o l , t h e d e r i v a t i v e o f t h e Lyapunov f u n c t i o n
(5.5) w i l l Se n e g z t i v e - d e f i n i t e foi7 kj > 0 everywhere, e x c e p t f o r t h e
s i n g u l a r p o i n t b - 0 , a t which i t v a n i s h e s . Hence, i t f o l l o w s t h a t
any t y p e o f n o n l i n e a r c o n t r a 1 by t h e l i n e a r comroccnts (5.7) belonz-
belonging t o t h e c l a s s (5.8) e n s u r e s asymptotic s t a b i l i t y o f t h e
c o n t r o l p r o c e s s e ~ e r y w h e r et h a t ?a# 0 .

For asymptotic s t a b i l i t y o v e r t h e whole range o f r i g i d body

p o s i t i o n s , i t i s s u f f i c i e n t t o r e d e f i n e t h e Equations ( 3 . 6 ) and
(5.7) such t h a t they do not v a n i s h a t t h e p o i n t 0 . In t h i s
c a s e , i n s p i t e of t h e f a c t t h a t t h e d e r i v a t i v e o f t h e Lyapunov
f u n c t i o n vanishes a t t h e poin'c X 3 = 9, t h i s p o s i t i o n w i l l no
l o n g e r be an e q u i l i b r i u m p o s i t i o n ( n o t even u n s t a b l e ) , as i n t h e
example o f l i n e a r c o n t r o l (5.6) considered p r e v i o u s l y . To prove
t h i s f a c t , we r e f e r t o t h e Lyapunov theorem [l] i n t h e formula-
t i o n : i f t h e r e e x i s t s a p o s i t i v e - d e f i n i t e f u n c t i o n o f phase / 200
c o o r d i n a t e s such t h a t i t s d e r i v a t i v e i s not p o s i t i v e and v a n i s h e s
on some s e t n o t c o n t a i n i n g e n t i r e t r a j e c t o r i e s b e s i d e s t h e
equilibrium position, then t h e equilibrium position of t h e
system i s a s y m p t o t i c a l l y s t a b l e .

11. We w i l l c o n s i d e r t h e c a s e o f c o n t r o l by d i r e c t i o n
co- ~rles:w e w i l l i n v e s t i g a t e t h e e q u a t i o n s , which are l i n e a r
f u n c t i o n s o f t h e d i r e c t i o n c o s i n e s (5.1).

Obviously, i t i s s u f f i c i e n t t o u s e two p a i r s o f c o s i n e s
determining t h e o r i e n t a t i o n of two axes o f t h e c o o r d i n a t e system
I 1 1 +he body b a s i s t o accomplish t h r e e - a x i s o r i e n t a t i o n ; only
t h r e e o f t h e f o u r c o s i n e s b e i n g independent. k t , f o r example,
tile c o s i n e s o f t h e axes l land I
-,b e used. Then one can
g e n e r a t e t h e t h r e e v a l u e s of t h e c o r r e c t i o n a n g u l a r v e l o c i t y QKi
as l i n e a r f u n c t i o n s of t h e c o s i n e s (1.5). By t a k i n g i n t o
account t h a t t h e g e n e r a t e d c o r r e c t i o n s i g n a l s must t a k e t h e
for^ (5.6) i n accordance w i t h ( 5 . 2 ) f o r s m a l l d e t i a t i o n s , we
ootain:
i .e., t h e r e a r e two p o s s i b i l i t i e s f o r g e n e r a t i n g t h r e e c o r r e c t i o n
s i g n a l s from f o u r d i r e c t i o n c o s i n e s . W e w i l l show t h a t i t i s
possible t o s a t i s f y t h e s u f f i c i e n t conditions f o r s t a b i l i t y f o r
both c a s e s . For t h e proof w e w i l l f i n d t h e Lyapunov f u n c t i o n
i n t h e f o l l o w i n g fo-m:

where a, 0, y and 6 a r e a r b i t r a r y p o s i t i v e parameters. obviously,

t h i s f u n c t i o n i s p o s i t i v e - d e f i n i t e and v a n i s h e s only a t t h e
equilibrium position. /201

The d e r i v a t i v e of t h i s f u n c t i o n cornposed i n accordance w i t h

Equations (5.3) has t h e f o l l o w i n g form:

where t h e upper s i g n corresponds t o t h e t h i r d , and t h e lower t o

t h e f o u r t h e q u a l i t y of (5.9), which d e f i n e s t h e c o n t r o l C h 3 . I n
o r d e r t h a t t h e d e r i v a t i v e (5.11) w i l l be a n e g a t i v e f u n c t i o n ,
i t i s necessary t o s a t i s f y t h e following conditions:
 e w i l l show t h a t t h e f i x e d s i g n o f t h e f u n c t i o n W o v e r
W
t h e whole r e g i o n of v a r i a t i o n o f t h e q u a n t i t y l i can be o b t a i n e d
by t h e s e l e c t i o n of t h e parameters a. p, y, 8 . We r e p r e s e n t t h e
f u n c t i o n (5.11) i n t h e f o l l o w i n g form:
- ~2 ~ = k l ( a + b ) ~ ? + . k ~ ( p - y ) ~ ~ A ~ + d d ~ ~ ~ +
+ k. (a + y) + kl($ - 6)A;g + bA~tAl~2h+
+ k, (a + p) a+ ks (8 - y) 1:~: + cbdlAA3, .

where t h e q u a n t i t i e s a , b , c s a t i s f y t h e c o n d i t i o n :

We r e q ~ i r et h a t each of t h e 5hree q u a d r a t i c forms i n r e l z t i o n

(5.13) be f i x e d i n s i g n ; t h e f o l l o w i n g c o n d i t i o n s must t h e n be
satisfied:

I n accordance w i t h t h e necessary c o n d i t i o n s (5.lZ), A , B and C

a r e r e a l q u a n t i t i e s . The c o n d i t i o n s (5.15) can a l s o be w r i t t e n
i n t h e form:

The o b t a i n e d i n e q u a l i t i e s a r e s a t i s f i e d f o r any a , b and c

lying i n s i d e t h e parallelapiped with s i d e s A , B, C. I f t h e
a d d i t i o n a l r e l a t i o n (5.14) i s t a k e n i n t o a c c o u n t , t h e n t h e
i n e q u a l i t i e s (5.16) can b e s a t i s f i e d i f and only i f t h e p l a n e
d = a t b + c i n t e r s e c t s t h e p a r a l l e l a p i p e d A B C , i . e . , when:
The l a s t i n e q u a l i t y i s o b t a i n e d by a d d i n g t h e i n e q u a l i t i e s
(5.16) ; by r e p l a c i c g t h e i n e q u a l i t i e s A,B,C, and a , b , c i n
accordance w i t h ( 5 . 1 4 ) and ( 5 . 1 5 ) , we o b t a i n :

Let u s i n v e s t i g a t e t h e o b t a i n e d e x p r e s s i o n ; it can be
d i v i d e d i n t o t h e f o l l o w i n g two i n e q u a l i t i e s :

We s e t a + 6 = b - t ' ; then a + y = f l - 6 ; t h i s e q u a l i t y does n o t

c o n t r a d i c t t h e n e c e s s a r y c o n d i t i o n s f o r s t a b i l i t y ( 5 . 1 2 ) con-
s i d e r e d above. Then t h e f i r s t i n e q u a l i t y ( 5 . 1 7 ) t a k e s t h e form:

and t h e second i n e q u a l i t y ( 5 . 1 7 ) r e d u c e s t o t h e f o l l o w i n g :

We c o n s i d e r t h e c a s e of t h e upper s i g n , which c o r r e s p o n d s
t o s p e c i f y i n g q,,, by t h e t h i r d e q u a l i t y o f ( 5 . 9 ) . The i n e q u a i i t y
(5.18) i s always s a t i s f i e d f o r any p o s i t i v e k 2 and k g . We impose
 *
2"
a n o t h e r l i m i t a t i o n on t h e parameters a, $, y. b i n t h e i n e q u a l i t y
(5.19) : we s e t y = a + 6-p. . Then t h i s i n e q u a l i t y t a k e s t h e
form:
B - V '
k12k3 2(a+b) * g aa8

and a l l t h e n e c e s s a r y c o n d i t i o n s (5.12) a r e s a t i s f i e d . T h i s
inequal.ity can always be s a t i s f i e d by t h e s e l e c t i o n of t h e
remaining unfixed parameter a.
g--
s-.-

t'. By analogy, f o r t h e c a s e o f lower s i g n , which corres2onds

t o s p e c i f y i n g Q K 3 by t h e f o u r t h e q u a l i t y o f (5.9), t h e i n e q l i a l i t y
2a-.
4.

?j
5.
(5.19) i s s a t i s f i e d i d e n t i c a l l y . By s e t t i n g y = a + b - 8 , we
8.
C. reduce t h e i n e q u a l i t y (5.18) t o t h e form:

--B Obviously, t h i s i n e q ~ a l i t ya l s o c: always be s a t i s f i e d by

;:
*.
%-
. t h e s e l e c t i o n of t h e parameters a > $ a ~ . Hence, i t follows
5 t h a t t h e i n e q u a l i t i e s (5.17) can be s a t i s f i e d w i t h t h e s e l e c t i o n
g
6
rx'
of t h e parameters a, B, 6 and y f o r any c o e f f i c i e n t s ki, which
B'-., corresponds t o f i x i n g t h e r s i g n of t h e d e r i v a t i v e (5.11) and,
-+,
s
%.

consequently, t o t h e asymptotic s t a b i l i t y of c o n t r o l by the

direction cosines.
3
E
Ncwhere i n t h e p r e s e n t e d proof h a s t h e magniture of t h e
c o e f f i c i e n t s ki ( i = 1 , 2 , 3 ) been f i x e d o r t h e p r o p e r t y of t h e i r
constancy been used, I n accordance w i t h t h e p r i n c i p l e of
llapparent l i n e a r i z a t i o r " , any n o n l i n e a r c o n t r o l f u n c t i o n s a t i s -
f y i n g t h e c o n d i t i o n s (5.8) w i t h x # 0 can be r e p r e s e n t e d a s : --
/ 204

F(x)=k() (i=1,2,3).

Hence, i t f o l l o w s t h a t any n o n l i n e a r f u n c t i o n of t h e d i r e c t i o n
cos!.nes of r;he t y p e ( 5 . 8 ) w i l l a l s o e n s u r e s t a b l e o r i e n t a t i o n .
 By analogy, one can c o n s i d e r t h e c a s e o f c o n t r o l when t h e
and i
d i r e c t i o n c o s i n e s o f t h e o t h e r two axes l2 o r il and I
3 3
a r e used f o r c o r r e c t i o n .

111. Three independent c o r r e c t i o n s i g n a l s , which a r e s p e c i -

f i e d a s a f u n c t i c n of t h e d i r e c t i o n c o s i n e s o r t h e q u a n t i t i e s ).o?-i,
a r e s u f f i c i e n t f o r s t a b l e c o n t r o l o f t h e r i g i d body p o s i t i o n . Let
us e s t a b l i s h what minimum number of independent s i g n a l s i s
n e c e s s a r y f o r s t a b l e o r i e n t a t i o n , i . e . , i n o t h e r words, whether
t h r e e independent c o n t r o l s i g n a l s a r e e x c e s s i v e . To answer t h i s
q u e s t i o n , we w i l l i n v e s t i g a t e what p o s i t i o n o c c u r s f o r t h e
c o o r d i n a t e system ? wIi t h t h e u s e of one o r two c o r r e c t i o n
signals.

We w i l l c o n s i d e r , as an example, c o n t r o l by t h e q u a t e r n i o n
components ( 5 . 6 ) and assume t h a t only one c o r r e c t i o n s i g n a l i s
used > O , b u t k 2 = k a = O ( i . e . , c o n t r o l a l o n g one c h a n n e l ) .

C
I n t h i s c a s e , t h e d e r i v a t i v e o f t h e Lyapunov f u n c t i o n ( 5 . 5 )
&:

g.
.-.
equals k d k ; and v a n i s h e s everywhere t h a t AI = U, e x c e p t t h e
).:.

r.
-&
p o s i t i o n ).o=O . Obviously, t h e s e p o s i t i o n s w i l l be e q u i l i b r i u m
&' p o s i t i o n s i n which t h e c o n t r o l ( t h e c o r r e c t i o n a n g u l a r v e l o c i t y )
g,
#.
7.-
v a n i s h e s . ThZs c a s e c o r r e s p o n d s t o t h e p o s i t i o n of t h e system
E, when t h e f i n i t e r o t a t i o n v e c t o r c a r r y i n g t h e b a s i s I i n t o t h e
basis E l i e s i n t h e p l a r e ~ $ 3 ; any of t h e s e p o s i t i o n s c o r r e s -
ponds t o t h e e n t i r e t r a j e z t o r y of t h e e q u a t i o n s o f motion ( 5 . 3 ) .

By analogy, w i t h t h e use of two c o r r e c t i o n s i g n a l s , f o r

example, such t h a t 0, k2 > 0 and k3 ='0 ( c o n t r o l a l o n g two
c h a n n e l s ) , we have t h e d e r i v a t i v e o f ( 5 . 5 ) e q u a l i n g z e r o f o r
3.1 =?.2 = 0 which o c c u r s when t h e f i n i t e r o t a t i o n v e c t o r i s
d i r e c t e d a l o n g t h e e a x i s . Any of t h e s e p o s i t i o n s i s a l s o an
3
equLlibrium p o s i t i o n . Hence, i t f o l l o w s t h a t t o o r i e n t a body
r e l a t i v e t o an i n e r t i a l c o o r d i n a t e system, i t i s n e c e s s a r y t o / 205
u s e no l e s s t h a n t h r e e independent c o r r e c t i o n s i g n a l s , i . e . , t h r e e
 Q independent a n g u l a r p o s i t i o n s e n s o r s i g n a l s ,
c
A.

F 5 5.3. KINEMATIC PROBLEM OF ORIENTATION I N A ROTATING COORDINATE

'E-
5:
SYSTEM

Besides t h e c o n s i d e r e d c a s e o f t h e i n e r t i s l o r i e n t a t i o n , one
most f r e q u e n t l y e n s o u n t e r s o r i e n t a t i o n i n a r o t a t i n g c o a r d i n a t e
.r system. An example of such i s t h e o r i e n t a t i o n of' s p a c e c r a f t i n

-a
i':
t h e s o - c a l l e d o r b i t a l c o o r d i n a t e system, t h e d i r e c t i o n s o f whose
",-
6- a x e s a r e l i n k e d w i t h t h e o r b i t a l p l a n e and t h e d i r e c t i o n toward
--.
b
L' '
t h e c e n t e r of t h e p l a n e t . The o r b i t a l c o o r d i n a t e system performs
$-
t. a n o r d e r l y r o t a t i o n w i t h t h e a n g u l a r v e l o c i t y oo e q u a l i n g t h e
i.
o r b i t a l a n g u l a r v e l o c i t y . The v e c t o r oo h a s a d e f i n i t e d i r e c t i o n
2;.
:*,
p i n t h e o r b i t a l system a x e s : it i s c o n s t a n t i n d i r e c t i o n and i s
p
,
.
z

<
i
:
,e. p l a c e d a l o n g t h e binormal t o t h e o r b i t . F o r such motion, t h e
i
2
r
4:
o r b i t a l c o o r d i n a t e system performs a r o t a t i o n i n one p l a n e r e l a -
T :.
*"<,
,$-.
*f'
t i v e t o i n e r t i a l s p a c e ( p r e c e s s i o n of che o r b i t a l p l a n e i s
;

?! neglected).
?$
2:

$3:
! O r i e n t a t i o n o r s p a c e c r a f t toward a n o t h e r c r a f t c a n s e r v e a s
g
",
;T, a n o t h e r example of o r i e n t a t i o n i n a r o t a t i n g c o o r d i n a t e system.
$4
& If one c o n s i d e r s t h e r e l a t i v e motion of two c r a f t s , t h e n t h e r a d i u s
$
0
v e c t o r j o i n i n g them performs ( i n t h e g e n e r a l c a s e ) a r o t a t i o n i n
P one moving p l a n e . Accordingly, one can iritroduce a c o o r d i n a t e
system connected w i t h t h e p l a n e of r o t a t i o n , one a x i s of which i s
positioned along t h e r a d i u s vector, t h e other i s perpendicular t o
t h e p l a n e of r o t a t i o n . I n t h i s c a s e , t h e r o t a t i o n a l a n g u l a r
v e l o c i t y of t h e r e f e r e n c e b a s i s r e l a t i v e t o i n e r t i a l s p a c e has a
f i x e d p o s i 5 i o n i n t h e a x e s of t h e r e f e r e n c e b a s i s .

I. Thus, f o r c o n s i d e r a t i o n of t h e problem of o r i e n t a t i o n i n
a r o t a t i n g c o o r d i n a t e system, we w i l l assume t h a t t h e body coor-
d i n a t e system E c o i n c i d e s w i t h t h e r e f e r e n c e system I by i n p a r t i n g
t h e c o r r e c t i o n a n g u l a r v e l o c i t y t o t h e b a s i s E . The c o o r d i n a t e
system I t h e n r o t a t e s r e l a t i v e t o i n e r t i a l s p a c e w i t h t h e a n g a l a r / 206 -
v e l o c i t y oo . The a n g u l a r v e l o c i t y v e c t o r i s t h e n i n a f i x e d p o s i -
t i c n i n t h e basis J and does n o t change i t s d i r e c t i o n , Without
d e c r e a s i n g t h e g e , l e r a l i t y , we w i l l assume t h a t t h e v e c t o r as= d 3
i s d i r e c t e d a l o n g t h e i3 a x i s .

We w i l l c o n s i d e r what a b s o l u t e a n g u l a r v e l o c i t y t h e c o o r d i n a t e
system E must have. F i r s t l y , t k e r o t a t i o n a l v e l o c i t y of t h e b a s i s
E must o b v i o u s l y c o n t a i n t h e c o r r e c t i o n a n g u l a r v e l o c i t y R,; s p e c i -
f i e d as t h e f u n c t i o n of t h e mismatch o f t h e b a s e s E and I w i t h t h e
h e l p of t h e p r o j e c t i o n s Q w j i n t h e body a x e s , Secondly, i t i s
a d v i s a b l e t o r e q u i r e t h a t t h e o r i e n t e d p o s i t i o n be t h e e q u i l i b r i u l n
p o s i t i o n . F o r t h i s , i t i s n e c e s s a r y t h a t w i t h t h e c o i n c i d e n c e of
t h e c o o r d i n a t e systems E and I, when t h e c o r r e c t i o n a n g u l a r v e l o -
c i t y v a n i s h e s , t h e b a s i s E performs t h e same r o t a t i o n a s t h e
r e f e r e n c e b a s i s . Thus, i t i s n e c e s s a r y t h a t t h e b a s i s E h a s t h e
a d d i t i o n a l r o t a t i o n a l v e l o c i t y @* d i r e c t e d a l o n g t h e same a x i s
( e ) as t h e r e f e r e n c e b a s i s (i ) and having t h e same magnitude,
3 3
i . e . , one must have o*= obe3= woe3 . Hence, i t f o l l o w s t h a t t h e
a b s o l u t e a n g u l a r v e l o c i t y of t h e basis E e q u a l s :

Let t h e p o s i t i o n of t h e body b a s i s E r e l a t i v e t o t h e r e f e r e n c e
be s p e c i f i e d by t h e quaternioi? . i ( t ) .I n a d d i t i o n , we w i l l i n t r o -
duce t h e i n e r t i a l b a s i s Z and d e s c r i b e t h e motiun of t h e b a s e s E
and I r e l a t i v e t o i t with t h e h e l p of t h e q u a t e r n i o n s N and M ,
r e s p e c t i v e l y . I f t h e t r a n s i t i o n from t h e b a s i s Z i s g i v e n by t h e
q u a t e r n i o n M , and from t h e b a s i s I t o t h e b a s i s E by t h e q u a t e r -
n i o n A , t h e n t h e t r a n s i t i o n from t h e b a s i s Z t o t h e b a s i s E i s
determined by t h e i r p r o d u c t :
N--MoA. (5.21)

211
B
!
a, The kinematic e q u a t i o n s , which determine t h e motion o f t h e b a s e s
C

I and E r e l a t i v e t o t h e i n e r t i a l b a s i s , w i l l have t h e f o l l o w i n g
form, i n accordance w i t h ( 3 . 1 1 ) , ( 3 . 1 2 ) and w i t h c o n s i d e r a t i o n of

where a@, w y a r e t h e hyperconplex mappings of' t h e v e c t o r I o n t o

t h e b a s e s Z a;ld I, and QZ and % a r e t h e n;appinqs of t h e vectol* Q
(5.20) o n t o t h e b a s e s Z and E .

I n accordance w i t h ( 5 . 2 1 )

from which one can f i n d t h e k i n e m a t i c e q u a t i o n d e t e r m i n i n g t h e

motion o f t h e ? a s i s E r e l a t i v e t o t h e b a s i s I :

We n o t e t h a t t h i s i s t h e most convenient form of t h e e q u a t i o n ,

t
" . s i n c e t h e v e c t o r 0 i s s p e c i f i e d by i t s components i n t h e b a s i s E ,
*i i . e . , t h e v e c t o r QE i s a c t u a l l y g i l e n . I n e x a c t l y t h e same way,
t h e v e c t o r oo is g i v e n i n t h e basis I , i . e . , t h e q u a n t i t y aor
i s known.
i
a
t I f , f o r example, t h e v e c t o r oo i s r e p r o j e c t e d o n t o t h e b a s i s
eS E, t h e n we o b t a i n :
k! -
B mop
I

=,A 0 (00, - A,
and Equation (5.23) t a k e s t h e u s u a l form (3.11) f o r t h e a n g ~ l a r
v e l o c i t y Q E - o o ; , whlch i s t h e r e l a t i v e v e l o c i t y of motion o f t h e
b a s e s E and I. I n accordance w i t h (5.20) and by d e f i n i t i o n o r
t h e v e c t ~ roo, we have t h e f o l l o w i n g magnitudes of t h e mappings:
With c o n s i d e r a t i o n of t h i s kinematic Equation ( 5 . 2 3 ) of motion i n
q u a t e r n i o n components, A i s w r i t t e n i n t h e form o f t h e s c a l a r
relations:

The o b t a i n e d e q u a t i o n s f o r o r i e n t a t i o n i n a r o t a t i n g coordin-
a t e system d i f f e r s from t h e anelogous e q u a t i o s t f o r i n e r t i a l
o r i e 2 t a t i o n s ( 5 . 3 ) by t h e p r e s e n c e of two terms w i : ' ~a n g u l a r
v e l o c i t y oo. A s i s seen, E q u a t i o n s ( 5 . 2 4 ) f a l l i n t o two groups:
e q u a t i o n s f o r t h e components hg and 1 . 3 , which a r e analogous t o t h e
same Eq~;%ions ( 5 . 3 ) , and e q u a t i o n s f o r ? b ~ and h 2 . , which a r e / 208
l i n k e d because of t h e p r e s e n c e of t h e r o t a t i o n a l v e l o c i t y of t h e
r e f e r e n c e b a s i s oo. Q b v i o u s l y , t h e e q u i l i b r i u m p o s i t i o n h i = O v
%i=O ( i = 1, 2, 3) IS a s o l u t i o n of t h e e q u a t i o n , which would be
o b t a i n e d when o' i s s e t e q u a l t o oo.. One can ve-ify t h a t i n t h e
o p p o s i t e a a s e , terms w i t h ma-@* would a p p e a r i n t h e f i r s t and
f o u r t h e q u a t i o n s of ( 5 . 2 4 ) .

It i s i n t e r e s t i n g t o n o t e t h a t , f o r t h e c o n s t a n t q u a n t i t i e s
oo=oe and S l , = O (5.23) represents a solveable [cf., ( 3 . ;611
c a s e of p r e c e s s i o n :
? t = 6, b (t) = $9

+
AI (t) =A: cos 4 A! sin at#,
x~(~)=$cosoo:+ &!sin&.

This s o l u t i o n i n d i c a t e s t h a t , without correction, t h e m o t i o ~

of t h e c o o r d i n a t e s:jtem E r e l a t i v e t o t h e system I i s such t h a t
t h e f i n i t e r o t ~ L i o nv e c t o r ( g i v i n g t h e t r a n s i t i o n from t h e system
I t o t h e system E) r o b a t e s on a cone, whose a x i s l . ' s a l o n g t h e
*.
i
.<-
e

a x i s e , i f t h e motion i s observed i n t h e body a x e s , o r a l o n g t h e

-I

a x i s i? i f observed from t h e ret'erence b a s i s .

-
A .

11. We w i l l i n v e s t i g z t z ::-!e c c c e s s a r y and s u f f i c i e n t

-. c o n d i t i o n s f o r t h e s t a b i l i t y of t h e p r o c e s s of r e d u c i n g t h e
i'
c o o r d i n a t e system E t o t h e system I. We w i l l c o n s i d e r t h e c a s e
when t h e c o n t r o l i s accomplished by t h e q u a t e r n i o n components. W e
i n t r o d u c e , a s i n t h e p r e c e d i n g paragraph, t h e Lyapunov f u n c t i o n
.- i n t h e form ( 5 . 4 ) . I t s d e r i v a t i v e composed i n accordance wit.h
a Equa,ions (5.24) have e x a c t l y t h e same form as t h e c a s e of i n e r -
t i a l o r i e n t a t i o n ( c . 5 ) . Hence, i t f o l l o w s a t once t h a t t h e
l i n e a r c o n t r o l ( 5 . 6 ) and t h e a r b i t r a r y n o n l i n e a r c o n t r o l of t h e
form ( 5 . 7 ) s a t i s f y i n g t h e c o n d i t i o n s ( 5 . 8 ) accomplish asyrcptotic
convergence o f t h e c o r r e c t i o n p r o c e s s .

I n some c a s e s , i n c o n t r a s t t o t h e i n e r t i a l o r i e n t a t i o n ,
r o t a t i o n of t h e r e f e r e n c e c o o r d i n a t e system makes i t p o s s i b l e t o
i-

.-..
reduce t h e c o ~ r d i n a t esystem E t o t h e system I w i t h c o n t r o l by
only two s i g n a l s . Such a p o s s i b i l i t y f o r s a t i s f y i n g t h e o r i e n t a -
t i o n w i t h incomplete i n f o r m a t i o n from a n g u l a r p o s i t i m s e n s o r s i s
C
L

csused by t h e change of t h e e q u i l i b r i u m p o s i t i o n w i t h r o t a t i o n . / 209

T h i s f a c t has been i n d i c a t e d i n a number of works 142, 453 w i t h o u t
<-
I?
i n v e s t i g a t i n g t h e p o s s i b l e t y n e s of c o r r 2 c t i o n s and w i t h o u t p r o v i n g
j .

t h e s t a b i l i t y of t h e r e d u c t i o n p r o c e s s a s a whole.
-
C
.?

3:
F
2 We w i l l c o n s i d e r t h e c a s e of c o r r e c t i o n by two s i g n a l s Rwr
-?,- and QH2 ( k t >0, k2 >O, k3-- 0) . I n t h i s c a s e , t h e d e r i v a t i v e of t h e
Lyapunov f u n c t i o n i s n e g a t i v e everywhere, e x c e p t t h e r e g i o n
AI=A~=O. It i s n e c e s s a r y t o determine whether t h e s e t ? . 1 = A 2 = 0
c o n t a i n s e n t i r e t r a j e c t o r i e s s a t i s f y i n g Equations ( 5 . 2 4 ) f o r t h e
given c o r r e c t i o n . By s e t t i n g t h e q u a n t i t y Qwi=OT i n Equations
( 5 . 2 4 ) , we o b t a i n :
 0
Obviously, f o r t h e c a s e h=h=O , t h e t r a j e c t o r i e s ) . o ( t ) = b .
h(t)=g.s a t i s f y t h e s e e q u a t i o n s . Hence, i t f o l l o w s t h a t , with
c o r r e c t i o n by t h e two s i g n a l s Qwl and Q i [ t h e t y p e (5.6) o r
(5.7)], t h e r e occur e n t i r e t r a j e c t o r i e s a n whjch t h e d e r i v a t i v e
of t h e Lyapunov f n r c t i o n vanishes, i .e., t h e c o r , l i t i o n s o f
asymptotic s t a b i l i t y are not s a t i s f i e d , and consequently, i t i s
impossible t o accomplish o r i e n t a t i o n w-th t h e u s e of t h e s e two
signals.

Now l e t t h e c o r r e c t i o n b e c a r r i e d out by t h e f o l l o w i n g p a i r
of s i g n a l s by Q1;iand Qa ( k , > 0. k3 > 0. k2 =O) . We w i l l i n v e s t i g a t e
whether f o r such c o r r e c t i o n t h e r e can s x i s t s o l u t i o n s f o r which
%I and Q K ~ v a n i s h when any o t h e r c s o r d i n a t e s d i f f e r from z e r o .
BY s e t t i n g QKi=O , we o b t a i n t h e r e l a t i o n s (5.25), which obvi-
~ u s l ycan s a t i s f y t h e c o n d i t i o n s h=h=O o n l y when ? b r = O . Thus,
t h e set 11- L s s O does n o t c o n t a i n e n t i r e t r a j e c t o r i e s , except
t h e o r i e n t e d p o s i t i o n XI = ? - 2 = 1 - 3 = 0 . Hence, i t f o l l o w s t h a t , f o r
c o r r e c t i o n by t h e s e two s i g n a l s , i t i s p o s s i b l e t o a c c m p l i s h
spatial orientation.

By analogy, e n t i r e t r a j e c t o r i e s , except f o r t h e p o i n t
2 =at= 3.3 =0 , are n o t c o n t a i n e d i n t h e s e . ,., E I., = O when
P
y'
c o r r e c t i n g by t h e s i g n a l s Qh* and Q a ( k z > 0, k, > 0. &I = 01, i .e., i t
f
i s a l s o p o s s i b l e t o accomplish o r i e n t a t i o n with t h i s p a i r ~f
i.
z signals.
f.
'r
-r
M
P
Thus, o r i e n t a t i o n i n a r o t a t i n g c o o r d i n a t e system c a r be
7 accomplished by two s i g n a l s o f a n g u l a r p o s i t i o n s e n s o r s . Then
f
?~

i c o n t r o l of t h e t y p e (5.6) o r ( 5 . 7 ) e n s u r e s s t a b i l i t y a s a whole
( a s p r e v i o u s l y , t h i s c o n t r o l must be r e d e f i n e d a t t h e p o i n t
such t h a t it d i f f e r s from z e r o ) .
 When c o r r e c t i n g by only one s i g n a l , t h e r e e x i s t s whole
t r a j e c t o r i e s on which t h e d e r i v a t i v e Q e q u a l s z e r o . Thus, when
c o r r e c t i n g by QNl (k, = k, = 0. kt'> 0 ) , w e have t h e f o l l o w i n g s o l u t i o n
f o r t h e set 1.1 --0 (on which QMI v c n i s h e s ) :

Analogous s o l u t i o n s a l s o ? x i s t f o r c o r r e c t i o n by t h e s i g n a l
Qe, i. e . , Tor k1= k3 = 0. k2 > 0, F o r t h e c a s e o f c o r r e c t i c n by t h e
s i g n a l Q Y , , i . e . , f o r k 1 = k 2 = O , k ~ > O , we have t h e t 1s-9 the
trajectories:

AI (f)=~~cosq,t+ $ s i n ~ .
?.2
0
(t) =1.2 sin q,t -nis:> q?,

which s a t i s f y Equations ( 5 . 2 5 ) . Hence, i t f o l l o w s t h a t i t i s

i m p o s s i b l e t o accomplish s t a b l e o r i e n t a t i o n w i t h t h e u s e of one
anguiar p o s i t i c n sensory s i g n a l .

111. It i s Z n t e r e s t i n g t o i l l u s t r a t e t h e c a s e c o n s i d e r e d
above of s t a b l e c o r r e c t i n g by t h e s i g n a l s R13 and d,, ( i - e . ,
a c c o r d i n g t o Idb3 and ?.$.I ) by i n v e s t i g a t i n g t h e redtiction
p r o c e s s f o r t h e c a s e of l f n e a r c o r r e c t i o n ( 5 . 6 ) . We n o t e a t
once t h a t t h e c o r r e c t i c n p r o c e s s a l s o t a k e s p l a c e by t h e s i g n a l s
QH~ and 8,7 (MS. ?d~) i n an arlalogous manner.

L e t t h e c o r r e c t i o n c o e f f i c i e n t s ki be e q u a l a n d t h e o r i s n t a -
t i o n be performed w i t h t h e c o n t r o l :

I n t h i s c a s e , Equations ( 5 . 2 4 ) t a k e t h e f o l l o w i n g form:

--
2&=k?of>: + h $ = & ( ~ -G-53.
2i, - kh, -
A,&),
+
II
2iIS
2i2=
kj-0 ( ? d l + 55) 2 4 %

-2 a 1 . I
These e q u a t i a n s d e s c r i b e t i l e p r o c e s s o f r e d u c i . ) g t h e b a s i s E t r
t h e b a s i s I w i t h c o r r e c t i o n by two s i g n a l s ; t h e e x a c t s o l u t i o ~-!'
t h e s e e q u a t i o n s c a m a t b e o b t a i n e d . I n c o n n e c t i o n w i t h t h i z , kt / 211
w i l l p r e s e n t a n a p p r o x i m a t i o n i n v e s t i g a t i o n of t h e e q u a t i o r s
(5.26). The m o t i o n d e s c r i b e d by ( 5 . 2 6 ) c a n b e d i v f d e d i n t o th-ee
p a r t s d e t e r m i n e d by t h e i n i t i a l c o n d i t i o n s a n d , c c n s e q u e n t l y , L,
t h e r e g i o n of v a r i a t i o n of t h e q u a r i t i t i e s h.

1. L e t t h e i n i t i a l mismatch and c o r r e c t i o n c o e f f i c i e n t k 1.2

such t h a t t h e c o n d i t i o n Q w i . > ~ i s s a t i s f i e d e v e r y w h e r e , eucep: at
t h o s e p o s i t i o n s where 1.1 and 13 are small q u a n t i t i e s . (This
c o n d i t i o n i s e q u i v a l e n t t o t h e r e q u i r e a e n t w c k . .) W e w i l l con-
s i d e r t h e f o l l o w i n g motion c l o s e t o ( 5 . 2 6 ) and d i f f e r i n g from i t by
t h e s m a l l terms w i t h oo, which c a n b e n e g l e c t e d a , z c o r d i n g t o t h e
a s s u m p t i o n made:

IA -
,. A Ae ~q u~a tei o n s c a n b e i n t e g r a t e d ; w i t 1 1 ~ o n s i d e ~ a t i oonf t h e f a c t
that ~2=c i are t h e i n i t i a l v a l u e s of t h e q u a t e r n i o n compon-
e n t s ) , w e h a v e from t h e f i r s t E q u a t i o n o f ( 5 . 2 7 ) :

G (i)= (la2[I - (~rn

(&-e
-k [l-@wf)
+ []-(kyle [1-(gF0-k

The o b t a i n e d s o l u t i o n i s s u f f i c i e n t t o a n r - i y z e t h e n a t u r e of
t h e m o t i o n . S i n c e ~ : + i i = 1 --A:-A; , then;
It f o l l o w s from t h i s e q u a l i t y t h a t , f o r large v a l u e s o f t :

2 - e . , t h e c o n v e r g e n c e o f t h e p r o c e s s i s r a t h e r f a s t and i s
d e t e r m i n e d by t h e s e l e c t i o n @ f t h e c o r r c : t i o n c o e f f i c i e n t k and
0
t h e i n i t ' a : c o ~ l d i ' , l ~ A,<
n ~ 1-

O b v i o u s l y , r e l a t i o n (5.23 ) d e s c r i k s t!;e p r o c e s b o f r e d u c i n g
t h e axis e t o the axis i W e n o t e t h a t t h e c l o s e n e s s of A: t o
2 2'
one i n d i c a t e s t h a t i s small and t h e p o s i t i o n o f t h e body is
0
c l o s e t o p o i n t 1.0=0 ; t h i s c a s e s h o u l d be examined s e p a r a t e l y .

If t h e q u a t e r n i o n components are r e p r e s e n t e d i n t h e form:

where Yd are t h e d i r e c t i o n c o s i n e s cf t h e f i n i t e r o t a t i o n v e c t o r ,
t h e n i t f o l l o w s from t h e r e l a t i o n A~+?.:+o, t h a t l{+l;-O and,
consequently, $+I . !This i n d i c a t e s t h a t , i n t h e p r o c e s s o f
r e d u c i n g t h e a x i s e2 t o t h e a x i s i2,t h e r o t a t i o n a n g l e b(t) ( t h e
a n g l e of E u l e r p l a n e r o t a t i o n ) d e c r e a s e s from t h e i n i t i a l v a l u e
80 s u c h t h a t :

sin- 2(0 +sinT0, fi-

where $ i s t h e i n i t i a l v a l u e of t h e c o r r e s p o n d i n g c o s i n e o f t h e
f i n i t e r o t a t i o n vector. For t h i s s i t u a t i o n , t h e coordinate
s y s t e m E a p p e a r s t o b e r o t a t e d from t h e o r i e n t e d p o s i t i o n a b o u t
t h e a x i s e2 by t h e a n g l e 8;t) . The f i r s t , r e l a t i v e l y r a p i d s t a g e
o f r e d u c t i o n , which i n c l u d e s t h e s u p e r p o s i t i o n of t h e a x j s e2
w i t h t h e a x i s i2,c o n c l u d e s wi-h t h i s .
 2. The a x e s e2 and l2 remain c l o s e w i t h t h e subsequent
motion, i . e . , t h e motion w i l l be a r o t a t l o n of t h e c o o r d i n a t e
system E about t h e a x i s i 2 ,as a r e s u l t of whlch s u p e r p o s i t i o n
o f t h e systems E and I must be produced, i - e . , t h e q u a n t i t y Q ( t )
must d e c r e a s e t o z e r o . For t h e approximation s t u d y o f t h e second
stsse of t h e motion, which is a r o t a t i o r . about t h e a x i s e 2 ( i 2 ) , / 213
we s e t t h e d e r i v a t i v e s j.,=)L3=0 i n Equations ( 5 . 2 7 ) , s i n c e t h e
q u a n t i t i e s j . ~ ( t ) and j-:(l) are reduced t o s m l l q u a n t i t i e s a s a
r e s u l t o f t h e c o r r e c t i o n , a s which t h e y remzin throughout t h e
subsequent motion. It f o l l o w s from t h i s c o n d i t i o n t h a t t h e
approximate e q u a l i t z e s can be s a t i s f i e d :

s i n c e ?.* and :.J are small q u w t i t i e s whose s q u a r e s can be n e g l e c t e d .

By s u b s t i t u t i n g t h e o b t a i n e d v a l u e L~ i n t o t h e f a u r t h e q u a t i o n of
( 5 . 2 7 ) , we have:

from which f o l l o w s t h e s o l u t i o n :

which d e s c r i b e s a t u r n of t h e b a s i s E about t h e a x i s i2 toward

t h e o r i e n t e d p o s i t i o n ( h e r e A? i s t h e i n i t i a l v a l u e a t t h e second
s t a g e of motion, i . e . , t h e f i n a l v a l u e f o r t h e f i r s t s t a g e
equaling YW$)-

It i s i n t e r e s t i n g t o n o t e t h a t t h e magnitude of t h e c o r r e c t i o n
c o e f f i c i e n t k a p p e a r s t o have a n i n v e r s e e f f e c t on t h e r a t e of
convergence of t h e p r o c e s s h e r e : t h e r a t e d e c r e a s e s i n p r o p o r t i o n
t o t h e i n c r e a s e of t h e c o e f f i c i e n t k ( i n comparison w i t h t h e f i r s t
s t a g e of motion, where t h e r a t e of a x i s r e d u c t i o n i n c r e a s e s w i t h
increasing coefficient k ) .
219
it
T-

i
--.
We propose t h e f o l l o w i n g method f o r a c c e l e r a t i n g t h e
B
...
c o r r e c t i o n : s i n c e t h e c o o r d i n a t e s XI and 1.2 a p p e a r "coupled ,'I
h
k
because of t h e p r e s e n c e o f t h e v e l o c i t y oo, and c o r r e c t i o n i n
t h i s c a s e i s accompllsned by t h e s i g n a l XI ( O r l o fiigi.11 , t h e n one c a n
G

-
2 i n t r o d u c e t h e s o - c a l l e d c r o s s c o r r e c t i o n i n t h e form:

P u t t i n g a s i d e t h e q u e s t i o n of i n v e s t i g a t i n g t h e convergence / 214 -
of t h e c o r r e c t i o n p r o c e s s a t t h e s t a g e of s u p e r p o s i t i o n o f t h e
a x i s e2 w i t h t h e a x i s i2 ( s u c h s u p e r p o s i t i o n i s a c c o m p l i s h e d ) ,
we w i l l c o n s i d e r only r o t a t i o n about t h e a x i s e2, i . e . , motion
a l o n g t h e c o o r d i n a t e ;-2. From t h e second and t h i r d e q u a t i o n s of
( 5 . 2 4 ) w i t h t h e s e l e c t e d c o r r e c t i o n f o r i, = & = o , we have, w i t h
c o n s i d e r a t i o n o f f i r s t o r d e r terms i n t h e q u a n t i t i e s and As , a
r e l a t i o n f o r t h e component AI i n a form analogous t o ( 5 . 2 9 ) -
Then t h e f o u r t h e q u a t i o n of (5.24) t a k e s t h e f o l l o w i n g form:

~" .
By keeping i r . mind t h a t c - l - ~ ; we
, obtain the following
k.
s o l u t i o r l of t h i s e q u a t i o n :

e k
A2 ( t )=: Wh+*) t
{I- "(%T[. - I]
Hence, it i s s e e n t h a t t h e convergence of t h e p r o c e s s can be
s i g n i f i c a n t l y a c c e l e r a t e d by t h e i n t r o d u c t i o n of c r o s s c o r r e c t i o n .

3. A f t e r t h e component h ( t ) becomes s m a l l , t h e approximate

solution^ ( 5 . 2 9 ) , (5.30), and (5.32) l o s e t h e i r v a l i d i t y . The
t h i r d and t h e l a s t s t a g e of motion c l o s e t o t h e e q u i l i b r i u m
p o s i t i o n f o r s m a l l v a l u e s of Xtand b i s d e s c r i b e d by t h e
l i n e a r i z e d Equations ( 5 . 2 6 ) , i n which t e r m s of second o r d e r
r e l a t i v e t o l , . hs hs (?a 1)are n o t t a k e n i n t o account :

These e q u a t i o n s can be used f o r a n a l y z i n g t h e accuracy of t h e

r e d u c t i o n p r o c e s s . Equations ( 5 . 3 3 ) i n d i c a t e t h a t t h e channel XJ
can be independent of t h e c h a n n e l s 11 and k , which a r e i n t e r -
connected because of t h e p r e s e n c e of t h e r o t a t i o n v e l o c i t y -.
The c h a r a c t e r i s t i c e q u a t i o n f o r t h e second and t h i r d e q u a t i o n s of / 215
t h e system ( 5 . 3 3 ) w i l l be:

and has t h e r o o t s :

For very s m a l l magnitudes of @o (compared t o k ) , t h e l e n g t h

of t h e convergence p r o c e s s i s l a r g e . To a c c e l e r a t e t h e p r o c e s s ,
one can i n t r o d u c e t h e c r o s s c o r r e c t i o n ( 5 . 3 1 ) ; i n t h i s c a s e , t h e
t h i r d e q u a t i o n of (5.33) i s changed t o t h e f o l l o w i n g :

2i2=- ha, - 2 ~ ~ .

The c h a r a c t e r i s t i c e q u a t i o n t a k e s t h e form:

and w i l l have t h e r o o t s :

P , , 2 = - *4 * , f ~ - m . ( W f '+ ) a .L
 I n c o n c l u s i o n , w e w i l l c o n s i d e r t h e behavior o f t h e system
k'
5.-
P a t t h e s i n g l u a r p o i n t :A = 1 , a t which, as f o l l o w s from t h e
t::
@ s o l u t i o n ( 5 . 2 8 ) , t h e r e i s no convergence o f t h e p r o c e s s . The
g.
g? value 1 c o r r e s p o n d s t o t h e p o s i t i o n when t h e a x e s e2 and l2
E.
$; o f t h e c o o r d i n a t e systems E and I c o i n c i d e , and t h e a x e s el and
-& e3 c o i n c i d e w i t h t h e a x e s -il and -i i . e . , t h e c o o r d i n a t e
zr': 3'
2 systems E and 1 a r e t u r n e d about by 1 5 0 ~ . We n o t e t h a t t h e
e x a c t e q u a t i o n s o f motion (5.26) a l l o w t h e p a r t i c u l a r s o l u t i o n
E 12= 1 , lio=X1=A3=0,
and t h i s p o s i t i o n i s t h e e q u i l i b r i u m p o s i t i o n .
s-
A
4. The c o r r e c t i n g s i g n a l s SZK1 and Bhs v a n i s h a t t h i s posit4-on. I f
E
i
t h e e q u a t i o n i s r e d e f i n e d a t t h i s p o i n t so t h a t i t does riot d i s -
a p p e a r , t h e n t h e p o s i t i o n w i l l no l o n g e r be a n e q u i l i b r i u m p o s i -
t i o n a c c o r d i n g t o t h e Equations ( 5 . 2 4 ) .
f
g-
8,
?& To i n v e s t i g a t e t h e v i c i n i t y of t h i s p o i n t , we s e t h z = I i n
f
Equations ( 5 . 2 4 ) and w e w i l l c o n s i d e r t h e q u a n t i t i e s b. XI and
s"
2. t o be small. I n t h i s c a s e , w e o b t a i n t h e f o l l o w i n g system of / 216
*,
h e q u a t i o n s ( r e c a l l t h a t Q,, =0 ) :
8
2k = - A,QM1- k3Q*.
G
P
2il = hs,, Q*+ + ?OO. ,
-
2i, =k3Qnl hlS2wj 2A1a-
2 i 3 = A,,Qa-Ox,.

I t i s s e e n from t h e s e e q u a t i o n s t h a t , i n s p i t e o f t h e s m a l l n e s s
o f t h e q u a n t i t i e s ho. XI, 13, t h e r a t e of motion a l o n g t;:e c o o r d i n -
a t e s As and A! i s determined mainly by t h e c o r r e c t i o n v e l o c i t i e s
RHI and RK3 , r e s p e c t i v e l y . When t h e c o r r e c t i o n v e l o c i t i e s a r e
g i v e n i n t h e form ( 5 . 6 ) and v a n i s h a t t h e p z l n t lio=A1=h3=0 ,
moSion i n a small neighborhood of t h i s p o i n t i s d e s c r i b e d by t h e
approximate e q u a t i o n s :
 o b t a i n e d from ( 5 . 2 6 ) w i t h c o n s i d e r a t i o n o f terms t o t h e t h i r d
o r d e r r e l a t i v e t o t h e q u a n t i t i e s ho. XI. As.

One c a n s e e t h a t t h e E q u a t i o n s (5.34) d e s c r i b e t h e motion o f

a c o n s e r v a t i v e s y s t e m , i . e . , t h e q u a n t i t i e s Xi v a r y a c c o r d i n g t o
a harmonic law w i t h t h e f r e q u e n c y

where ?$ i s t h e i n i t i a l v a l u e o f t h e c o o r d i n a t e Xo. However, t h e

q u a n t i t i e s Ai do n o t remain s m a l l i n t h e p r o c e s s o f motion f o r
a l l c a s e s . S i n c e t h e d r i f t o f t h e t r a j e c t o r y frorr, t h e p o i n t ? . 1 = 1
i s c h a r a c t e r i z e d , t o a l a r g e d e g r e e , by t h e change o f t h e c o o r -
d i n a t e L2(t) , we p r e s e n t t h e s o l u t i o n o f t h e systems (5.34) f o r
t h i s coordinate
,
k2(~32 -
+a:cor*r
A* (t) =A:
v' +
+ - eor v!~- I , -
0 %
v
sin vl.

?.
i
T h i s s o l u t i o n shows t h a t t h e c o o r d i n a t e Xl(t) remains t o c l o s e t o / 217
i-
2

o n e , o n l y for

F
f
4
Even w i t h s m a l l c o e f f i c i e n t s , t h e p r e s e n c e o f t h e r o t a t i o n a l
!k! a!lp:ulal v e l o c i t y oo l e a d s t o a c o m p a r a t i v e l y r a p i d d r i f t o f t h e
s y s t e m from t h i s p o i n t .

. .

A
-.-"
 J7. We c o n s l d e r t h e q u e s t i o n of c o n t r o l s t a b i l i t y , when t h e
c o n t r o l l i n g c o r r e c t i o n s i g n a l s a r e given a s a funr.tion of t h e
d i r e c t i o n c o s i n e s . We f i n d t h e Lyapunov f u n c t i o n i n t h e form
(5.10) f o r t h e c o n t r o l , which i s accomplished by t h e d i r e c t i o n
c o s i n e s of t h e a x e s il and ii and h a s t h e form ( 5 . 9 ) . The d e r i v -
a t i v e of t h e Lyapunov f u n c t i o n c ~ m p o s e di n accordance w i t h t h e
e q u a t i o n s of motion (5.24) w i l l e q u a l , f o r t h i s c o n t ~ ~ o l :

We s e t 6 = y and r e q u i r e a f i x e d s i g n f o r t h e o b t a i n e d quad-
r a t i c form. For t h i s , i t i s n e c e s s a r y , above a l l , t h a t t h e
I" conditions :

ki?O (i==1,2,3), $ 2 ~
($28)

are s a t i s f i e d . We i n t r o d u c e t h e d e s i g n a t i o n :

and r e p r e s e n t t h e d e r i v a t i v e (5.35) i n the form:

7
+
- y) A ~ A ;+ U W I ~ A S ] +
- f w =[k,(a + 4 A%; + &I(i
b,

+ [kp(a + y) Gh: +- k2 (8 - 01 + bhoala2as]+

+ + $)M*
k 3 ( ~

:. The c o n d i t i o n s f o r a f i x e d s i g n of t h e two q u a d r a t i c forms

i,
I (conditionally enclosed i n brackets) i n t h e presented expression
%-
E; w i l l be :

4kl(ci+ y ) ( i - y) 22,' 4ki(a+ It)@-

y)>b2. 1

The same c o n d i t i o n s can be w r i t t e n i n t h e form: -

/ 218 iI
- 2 k , )/(a + y) ($ - y) <a <2k1 m$?), t
U

-2ktv(a+ y)($- y ) < b < 2 k 2 v ( ~ + Y)($-Y).

224
:- .
*.
h
t -.-.---- - . . * .
i
These i n e q u a l i t i e s a r e s a t i s f i e d if and o n l y i f t h e s t r a i g h t
l i n e ( 5 . 3 6 ) i n t h e p l a n e o f t h e paranieters a , b i r l t e r s e c t s t h e
r e c t a n g l e w i t h s i d e s k,\i(,+ y)($- y)and k,l/(a+y)($- y),, which o c c u r s
only i f :

The o b t a i n e d d x p r e s s i o n can be d i v i d e d i n t o two i n e q u a l i t i e s :

I n o r d e r t o s a t i s f y t h e i n e q u a l i t i e s ( 5 , 3 7 ) , we s e t :

a+v-$-u.
We c o n s i d e r t h e c a s e w i t h t h e upper s i g n . The f i r s t i n e q u a l -
i t y of ( 5 . 3 7 ) i s always s a t i s f i e d , t h e second l e a d s t o :

F o r t h e lower s i g n , t h e second i n e q u a l i t y o f ( 5 . 3 7 ) i s
always s a t i s f i e d , and t h e f i r s t l e a d s ;o t h e form:

Obviously, t h e s e i n e q u a l i t i e s can b e s a t i s f i e d by t h e c h o i c e
of c o r r e c t i o n c o e f f i c i e n t s , i . e . , t h e d e r i v a t i v e ( 5 . 3 5 ) of t h e
Lyapunov f i i n c t i o n w i l l b e n e g a t i v e - d e f i n i t e and t h e c o r r c c t i o n
p r o c e s s w i l l be a ~ y m p t o t i c a l l ys t a b l e .
 A s s e e n from t h e p r e ~ e n t e dp r o o f , r o t a t i o n of t h e r e f e r e n c e -
/ 219
c o o r d i n a t e system I l e a d s t o t h e a p p e a r a n c e of a d d i t i o n a l condi-
t i o n s on t h e p a r a m e t e r s a* Y and 6:, ? .. . a u s e of which t h e
c o n d i t i o n s ( 5 . 3 8 ) and ( 5 . 3 9 ) a r i s e . The c a s e ( 5 . 3 8 ) c o r r e s p o n d s
Lo t h e c o r r e c t i o n when t h e two d i l - e c t i o n c o s i n e s of t h e a x i s i2
a r e used i n t h e c o n t r o l . Thus, t h i s c a s e d e f i n e s t h e p r o c e s s of
t h e a x i s e 2 b e i n g E lperimposed wlLh t h e a x i s i2. The analogous
c ? n d i t i o n ( 5 . 3 9 ) d e f i n e s t h e p r o c e s s of t h e a x i s el b e i n g s u p e r -
imposed w i t h il. I n b o t h c a s e s , t h e s i g n a l determined by t h e
t h i r d d i r e c t i o n c o s i n e ( 5 . 9 ) i s used f o r t h e t h i r d c h a n n e l ,

It f o l l o w s a t once from t h e p r e s e n t e d p r o o f t h a t t h e magnitude

of t h e c o r r e c t i o n c o e i l ' i c i e n t k 2 c a n be s e t e q u a l t o z e r o wher,
u s i x g t h e two d i r e c t i o n c o s i n e s of t h e a x i s i 2 i n t h e c o n t r o l .
Then a l l t h e f i x e d s i g n c o n d i t i o n s a r e p r e s e r v e d f o r t h e Lyapunov
f u n c t i o n ( ~ v e r y w h e r e )and f o r i t s d e r i v a t i v e everywhere, e x c e p t
p o s i t i o n s tor-csponding t o t h e c o i n c i d e n c e of t h e a x e s e and i2.
2
However, a s was p r e v i o a s l y shown, t h e s e p o s i t i o n s a r e n o t e n t i r e
t r a j e c t o r i e s of t h e e q u a t i o n s of motion ( 5 . 2 4 ) . Hence, it f o l l o w s
t h a t i t i s p o s s i b l e t o accomplish t h r e e - a x i s o r i e n t a t i o n i n a
r o t a t i n g c o o r d i n a t e system w i t h c o r r e c t i o n by t h e d i r e c t i o n c o s i n e s
of one a x i s 1 By a n a l o g y , c o n s i d e r a t i o n of t h e c o n d i t i o n s
2
(5.39) i n d i c a t e s t h a t it i s p o s s i b l e t o reduce t h e system E t o t h z
r e f e r e n c e system w i t h c o r r e c t i o n by t h e d i r e c t i o n c o s i n e s of t h e
a x i s il.

I n o r d e r t o e x p l a i n t h e n a t u r e of t h e l i m i t a t l s n s on t n e
c o r r e c t i o n c o e f f i c i e n t s ( 5 . 3 8 ) and ( 5 . 3 9 ) , we c o n s i d e r t h e c a s e
when t h e c o r r e c t i n g s i g n a l s a r e n o n l i n e a r f u n c t i o n s of t h e d i r e c -
t i o n c o s i n e s . We w i l l i n v e s t i g a t e t h e c a s e of c o r r e c t i o n by two
s i g n a l s ( d i r e c t i o n c o s i n e s ) of t h e a x i s IL
,i n t h e body a x e s :

Q ~=,- Q , sign (MI- &a3),

= - n3sign !?&3
hK3 + A,%), J
f
c?,
>- i . e . , we w i l l consider. t h e c a s e of a relay c o n t r o l r ' u ~ ~ c t i o n ,
g"

A s t h e Lyapunov f u n c t i o n , we w i l l t a k e a f u n c t i o n d e f i n e d
S
...
*. by t h e d i r e c t i o n c o s i n e o f t h e a x i s i2 w i t h t h e a x i s e 2 :
B
%,
w =,
1
[I -(A: + 1:- d - A:)] =A:+ J.
I t s d e r i v a t i v e , i n view of E q u a t i o n s ( 5 . 2 4 ) w i t h t h e c o r r e c t i ~ ~ ~ ~
functions ( 5 . b 3 ) , w i l l equal:

We c o n s i d e r t h e r e g i o n where t h e o b t a i n e d expression
v a n i s h e s o r becomes n e g a t i v e , i . e . , t h e r e g i o n where t h e r n ~ t ' ~ o n
i s n o t c u r t a i l e d . Obviously, f o r t h l s i t i s n e c e s s a r y t h a t t h e
followi;?g i n e q u a l i t i e s b6 s a t i s f i e d :

where:
ir
2a0
E,=.->u,
Ql

By squar::~g t h e i n e q u a l i t i e s , we o b t a i n :

Bf
f
I n o r d e r t h a t t h e r e e x i s t r e g i o n s where t h e d e r i v a t i v e of
r: t h e Lyapunov f u n c t i o n i s p o s i t i v e , i t i s n e c e s s a r y t o s a t i s f y
b o t h i n e q u a l i t i e s . C o n v e r s e l y : i f it i s shown t h a t j;l:,t one
i n e q u a l i t y i s n o t s a t i s f i e d o v e r t h e whole r e g i o n o f ~ o t i o n ,
i t h e n t h e d e r i v a t i v e w i l l b e a n e g a t i v e - d e f i n i t e f u n c t i o n . We
c o n s i d e r t h e second i n e q u a l i t y a s a q u a d r a t t c t r i n o m i a l r e l a t l v e
t o hcha
3
4
5
f having t h e r o o t s :
.5

(1d-3)1.2 =(- 11%) 2 e 3 (AI2*2) = - (1 T 5)(&&)-

I n view of t h e f a c t t h a t X13.z<0 , t h e i n e q u a l i t y (5.42) i s
.. - s a t i s f i e d under t h e c o n d i t i o n s < l i n t h e intervr-1
*.

( W d l G 343 <(Wih
o r , according t o t h e q u a d r a t i c e q u a t i o n (5.42):

(-A,l-d(l --~J<kAJ<(--~lU(1 +a
, we m u l t i p l y t h i s inequal-
To e v a l u a t e t h e q u a n t i t y ?J.I~.z?.s -
221
i t y by (-blbZ)

?: 1-
(A:e3) < - WbJ9-3<AX(1 +ts)-
Hence, i t follows t h a t :

where ~ - E ~ ~ v ~ ~ + s , .

4.
By s u b s t i t u t i n g t h e o b t a i n e d v a l u e i n t o t h e second i n e q u a l i t y
,:

of (5.41), we haye

$-
J..
B
$
It i s obvious t h a t , a s a consequence o f t h e r e l a t i o n ( 5 , 4 3 ) ,
a the factcr:

f car. alyrays be made p o s i t i v e by t h e choice of q u a n t i t i e s e l and et .

Then t h e s t r i c t i n e q u a l i t y (5.44) cannot be s a t i s f i e d . The
e q u a l i t y (5.44) i s p o s s i b l e only i n t h e f o l l o w i n g c a s e s :
 F c r t h e f ? ~ s tof t h e s e cases, t h e d $ r i v a c i v e of t h e s e l e c ~ e a
Lyapunov f u n c t i o n

v a n i s h e s o n l y when ?.3=O o r %hen ;,%=O. . L i k e w i s e , I n t.iw se2cr.d

a n d i n t h e t h i r d c a s e s , t h e d e r i v a t i - r e o f t h e Lyspunov f u n c t i o n
v a n i s h e s or1 t h e s e t o f v a l u e s I., =O, i, =O. id = O and o n t h e set
i.a=O. ?.*=O o r I4=C. I., =O. Z4=a

I
T h u s , i t h a s b e e n shown t h a t t h e d e r i v a t i v e o f the L y a ~ u n o v r6

1 ) ;.I = j.2-
f u n c t i o n i s n e g a t i v e e v e r y w h e r e , e x c e p t t h e two p o s i t i o n s :
j.3 - 0 , where t b i s p o s i t i o n c o r r e s p o n d s t c ? a c c o n p l i s t m e n t
of t i l e r e q u i r e d o r i e n t 3 t i o n ; 2) 4 = 0 a n d one o f t h e o t h e r cornpon-
e n t s s i s o e q u a l s z e r o , where t . h i s , a s n o t e d p r e v i s u s l y , i s a n
u n s t a b l e e q u i l i b r i u ~p o s i t i c n . W e n o t e that. the l a c t e r f o l l o w s
from t h e f a c t t h a t t h e d e r i v a t i v e :

i. e . , i t i s p o s i t i v e - d e f i n i t e f o r t h e c c n s i d e r e d c n m p o c e n t . ~cf --
/ 222

the case a).

It i s i n t e r e s t i n g t o n o t e t h e meaning of t.he l i x i t a t i o n o n
t h e q u a n t i t i e s FI a n d t ~ . : i t i s n e c e s s a r y t h a t t h e c o n d i t i o : : ~
e l < l and r3<l a n d 3 somewhat s t r o n s e r c o n d i t i o n (5.45) b e
s a t i s f i e d . Thus, t h e m a g n i t u d e s of t h e c o r r e c t i o n v e l o c l + i e s
QI. Q t m u s t b e at. nininium i w i ~ f tas large as t h e r o t a t i o n v e l o c i t y
oo, w h i c h , as is e a s i l y seen, i s tile n e c e s s s r y c o n d i t ; i o n f o r
-
educing t h e a x i s e., ?.o t h e a x i s i2.
 V. The q u e s t i o n s o r o r i e n t a t i o n i n t h e r o t a t i n g c o o r d i n a t e
s y s t e m , which h a s been c o n s i d e ~ . z c l i n t h i s p a r a g r a p h , have beerr
r e l a t e d t o t h e c a s e when t h e r o t a t i o n of t h e r e f e r e n c e b a s i s I
has been accomplished s b o u t one o f i t s a x e s ( i n t h i s c a s e , about
t h e a x i s i 1. The e s s e n t i a l p e c u l i a r i t y of o r i e n t a t i o n i n a
3
r o t a t i n g c o o r d i n a t e syste.n i s t h e p c s s i b i l i t g cl.t.ed i n tids p a r a -
g r a p h o f a c c o m p l i s h i n g o r i e n t a t i o n w i t h i n c o m p l e t e i n f o r m a t i o n from
t h e a n g u l a r p o s i t i o n s e n s o r s . T h i s i s c a u s e d by t h e f z t t h a t t h e
p o s s i b l e e q u i l i b r i u m p o s i t i o n s zre s i g n i f i c a n t l y changed w i t h
r o t a t ion.

W e now c o n s i d e r t h e c a s e of r i g i d body o r i e n t a t i o n i n t h e
r e f e r e n c e b b s i s I , which i s r o t a t i n g s u c h t h z t t h e a n g u l a r
v e l o c i t y v e c t o r uo h a s a n z r b i t ~ a r yp o s i t i o n i n t h e b a s i s I.

I n p r a c t i c e , t h i s case can correspond, f o r exsnple, t o

o r i e n t a t i o n i n a c o o r d i n a t e s y s t 3 m t u r n e d r e l a t i v e to t h e o y b i t a l
s y s t e m by a r b i t r a r y (programmed) a n g l e s . I n t h i s c a s e , t h e
r o t a t i o n of t h e r e f e r c n c c c o o r d i n a t e s y s t m occur: w i t h t h e same
o r b i t a l a n g u l a r v e l o c i t y cao. However, t h i s v e i o c r t y c a n have a n
a r b i t r a r y g i v e n d i r e c t i o n I n the b a s i s I.

We w i l l assume t h a t t h e v e c t o r oo i s g i v e n by t h r e e p r o j e c -
t i o n s i n t h e b a s i s I, i . e . :

The r i g i d body c o o r d i n a t e s y s t e m E i s superimposed w f t h t h s

r e f e r e n c e by s p e c i f y i n g t h e c o r r e c t i o n a n g u l a r ve1oc:it.y Q n a n d ,
i n a d d i t i o n , t h e a c i d i t j . o ~ a lv e l o c i t y mg. The a d d i t i o n a l ve1ot:ity
.
o* must be s u c h t h a t t h e v e l o c i t y m* c c i r l c i d e s wit') * when the
3

t
c o o r d i n a t e s y s t e m s E and I c o i n c i d e , i . e . , t h e o r i e n t a t i o n
i
i: p o s i t i o n i s t h e e q u i l i b r i u m p o s i t i o n . The c o r r e c t i o n 9. and as' / 223
5. a n g u l a r v e l o c i t i e s a r e s p e c i f i e d i n t h e body c o o r d i n a t e s y s t e r ,
E
by t h e components:

The v e c t o r sum of t h e s e v e l o c i t i e s d e t e r m i n e s t h e a b s o l u t e s n g u l a r
v e l o c i t y of motion of t h e b e s i s E. The E q u a t i o n s ( 5 . 2 3 ) w i l l b e
t h e e q u a t i o n s f o r t h e r e l a t t v e motion o f t h e b a s e s E and I , w i t h
t h e v a l u e MI d e t e r p i n e d from ( 5 . 4 6 ) , and QE=Q.E+& fron
r e l a t i o n s (5.47).

We w r i t e c h e s e e q u a t i o n s , which :letermir:e t h e v a r i a t i o n o f
t h e components of t h e q u a t e r n i o n A , in s c a l a r form:

The e q u i l i b r i u m p o s i t i o n s , which a r i s e as t h e r e s u l t c f complet.ing

t h e c o r r e c t i o n p r o c e s s , w i l l b e d e s c r i b e d by t h e e q u a t i o n s :

which a r e o b t a i n e d from (5.48) w i t h Q w i = O . The e q u a t i o n s

(5.49) f o r c o n s t a n t @i ( i = l w 2, 3) have t h e f o l l o w i n g s o l u t i o n s ,
which d e s c r i b e t h e p r e c e s s i o n r o t a t i o n :

+:? [z sin wt + +(1 - cot at)]-

- ~ [ Y- c(o sI~ t ) + Z r i n m t l .
 where 02=$+w:+a;. Obviously, t h e o r i e n t a t i o n p o s i t i o n
L, = ? . z = L , = O i s t h e e q u i l i b r 8 i u m p o s i t i c n o f t h e s y s t e m <5.48).

To i n v e s t i g a t e t h e p o s s i b i l - t y o f a c c o m p l i s h i n g o r i e n t a t i o n ,
we w i l l f i n d t h e Lyapunov f u n c t i c n i n t h e form ( 5 . 4 ) . Then i t s
d e r i v a t i v e composed i n a c c o r d a n c e w i t h E q u a t i o n s ( 5 . 4 8 ) w i l l have
t.he form ( 5 . 5 ) . Hence, i t f o l l o w s a t once t h a t c o n t r o l by t h e
q u a t e r n i o n components o f t h e l i n e a r t y p e ( 5 . 6 ) a n 6 t h e a r b i t r a r y
n o n l i n e a r c o n t r o l ( 5 . 7 1 , which s a t i s f i e s t h e c o n d i t i o n s ( 5 . 8 1 ,
e n s u r e a s y m p t o t i c convergence o f t h e c o r r e c t i o n p r o c e s s .

We c o n s i d e r t h e c l u e s t i o n o f p ~ s s i b l eaccomplishnlent o f
o r i e n t a t i o n w i t h i n c o m p l e t e i n f o r m a t i o n from t h e s e n s o r s . F o r
t h e p r e s e n t , we w i l l p u t a s i d e t h e q u e s t i o n a b o u t t h e p o s s i b l e
e x e c u t i o n of s u c h a c a s e . S i n c e t h e a n g u l a r p o s i t i o n s e n s o r i s
linked with t h e s i g h t i n 5 direction, then obtaining angular m i s -
match s i g n a l s i s n o t p o s s i b l e f o r e v e r y p o s i t i o n . Thus, w i t h
i
c o r b i t a l o r i e n t a t i o n , t h e s e n s o r i s l i n k e d t o t h e d i r e c t i o n toward
i
t h e p l a n e t and c a n o p e r a t e o n l y i f i t s s i g h t i n g a x i s i s l o c a t e d
. .
i n a d e f i n i t e r e g i o n r e l a t i v e t o t h e d i r e c t i o n toward t h e p l a n e t .
3. F o r t h e p r e s e n t , we w i l l s t a t e a b s t r a c t l y t h a t o b t a i r i n g a n g u l a r
4"
rr
m i s n a t c h s i g n a l s i s p o s s i b l e w i t h any p o s i t i o n of t h e r e f e r e n c e
8 b a s i s . We w i l l c o n s i d e r two c a s e s : 1 ) a l l t h e r o t a t i o n a l a n g u l a r
i
3.
.. .
X
232
components d i f f e r from z e r o ; 2 ) two c o m p o ~ l e n t so f WQ d o n o t e q u a l / 225 -
z e r o ( t h e c a s e o f one comporent o f cue n o t e q u a l i n g z e r o was
considered previously).

1) I 0. I 0 t , +0 . I n t h i s c a s e , accomplishment o f t h e
o r i e n t a t i o n i s p o s s i b l e , i n p r i n c i p l e , o n l y from any one s i g n a l
fr3m t h e a n g u l a r p o s i t i o n s e n s o r . A c t u a l l y , let. t h e m be c o r r e c -
t i 3 n o n l y from one c h a n n e l , f o r example %I . In t h i s c a s e , t h e
d e r i v a t i v e o f :he Lyaounov f u n c t i o n ( 5 . 5 ) w i l l be n e g a t i v e e v e r y -
where, e x c e a t t h e set L I S O ( w e assume t h a t t h e e q u a t i o n i s
redefined a t t h e point s u c h t h a t it d o e s n o t v a n i s h ) .

The s o l u t i o n s ( 5 . 5 0 ) show t h a t o n l y o n e e q u i l i b r i u m p o s i t i o n
o n
?.?=>.2=13=0, i . e . , t h e o r i e n t e d p o s i t . i o n , c a n s a t i s f y t.he s e t
. These s o l u t i o n s a l s o i l l u s t r a t e t h e p h y s i ~ s ln e s n i n c o f
s u c h a n o r i e n t . a t i o n : i f t h e q u a n t i t y i . l l t ) i s measured, t h e n !!~ree
measurements a t v a r i o u s i n s t a n t s o f t i m e are s u f f i c i e n t t o d e t e r -
mine t h e q u a n t i t i e s - and A? ( a l t h o u g h t h e s e v a l u e s c a n a l s o
be d e t e r m i n e d w i t h a s i m u l t a n e o u s mrssuyement o f t h e Lhree
q u a n t i t i e s 11-'-2 and )-3 ) .

E x e c u t i o n o f t h i s c a s e i s i m p o s s i b l e i n p r a c t i c e , i n view cf
t h e f a c t t h a t a n g u l a r p o s i t i o n s e p s o r s do not e x i s t f o r such a
c a s e o f o r i e n t a t i b n . Thus, f o r o r b i t a l o r i e n t a t i o n , a programmed
p o s i t i o n of t h e r e f e r e n c e b a s i s I r e l a t i v e t o t h e o r b i t a l axes
c o r r e s p o n d s t o t h i s c a s e . Then n o t h i n g p h y s i c a l c o r r e s p o n d s t o
t h e d i r e c t i o n s of t h e r e f e r e n c e b a s i s , i - e . , t h e y a r e n o t d i r e c t e d
toward t h e p l a n e t w i t h which t h e o r b i t i s l i n k e d ; t h u s , c o n s t r u c -
t i o n of t h e c o n t r o l s i g n a l s is Impossible.

2) ol =0, olfo, w # O . 1: i s q u i t e c l e a r t h a t t h e e q u a t i o n s
a r e symmetric and t h e c a s e o f t h e o t h e r components e q u a l i n g z e r o
r e d u c e s t o t h i s c a s e . I n t h i s c a s e , accomplishment of t h e
 o r i e n t a t i o n is p o s s i b l e w i t h t h e u s e of o n l y one s i s n a l from t h e
a n g u l a r p o s i t i o n s e n s o r by t h e c h a n n e l !!e o r $ 2 ~ 3 . Accordingly,
a c c o m p l i s h n e n t o f o r i e n t a t i o n i s p o s s i b l e from any { a i r of s i g n a l s
ar.d o r i e n t a t i o n w i t h one s i g n s l is impossible.

F o r p r c o f , w e t u r n t o t h e d e r i v a t i v e of t h e Lyapunov f u n c t . i o n
( 5 . 5 ) , which w i l l be n e g a t i v e everywhere, except f o r some set
d e t e r m i n e d by t h e c o n t r o l s i g n s 1 u s e d . T h u s , w i t h c o t * r e c t i o n b y 396
t h e s i g n a l a,, i t i s n e c e s s a r y t o v e r i f y whether cr nc7t t h e s e t
).==O c o n t a i n s e n t i r e t r a J e c s t 0 r i t . s . One c a n s e e from t h e r e l a -
t i o n s (5.50) 'kiith a 1 = 0 t h a t A t = O i s p ~ s s l t r l ei f and o n l y i f
L?=~!=x:=o. Hence, it f o l l o w s t h a t . , w i t h c o r r e c t . i o n by t h e
s i g n a l 0 h 2 , t h e p r o c e s s o f s t a b l e o r i e n t a t i o n o c c u r s . An
a n a l o g o u s c a s e o c c u r s w i t h c o r r e c t i o n by t h e s i g n a l % a . However,
w i t h o r i e n t a t i o n by t h e s i c n a l R,,, i n a c c o r d s n c e w i t h t h e s o l u -
t i o n s (5.301, t h e s e t ?,,sO can c o n t a i n a n o t h e r s o l u t i o n b e s i d e s
the oriented position:

i-Ience, i t f o l l o w s t h a t anda can be chosen not e q u a l t o z e r c ,

s u c h t h a t ?.x(~)#O and k(t)#O , a l t h o u g h hl(f)-0.

I n p r a c t i c e , t h i s c a s e c a n c o r r e s p o n d , f o r example, t o
o r i e n t a t i o n i n t h e c o o r d i n a t e s y s t e m I w i t h a programmed t u r n
r e l a t i v e t o t h e o r b i t a l a x e s . i f t h e r o t a t i o n is pel-formed, f o r
example, i n t h e p l a n e of t h e l o c a l h o r i z o n . I n t h i s c a s e , t.he
.UI
t
a n g u l a r v e l c c i t y of t h e o r b i t a l r o t a t i o n w i s p r o J e c t e d o n t o two
L a x e s of t h e b a s i s I. On t h e o t h e r hand, s i n c e one a x i s o f t h e
$-.
3-=
$
b a s i s r e m a i n s l i n k e d t o t h e d i r e c t i o n toward t h e p l a n e t , i t i s
f.s, p o s s i b l e t o measure ?he d e v i a t i o n of t h e hvdy b a s i s E r e l a t i v e
6%
3. t o t h e reference I n a c c o r d a n c e w i t h t h e p r o o f , accomplishment
of t h e o r i e n t a t i o n i s p o s s i b l e , in t h i s c a s e , w i t h t h e u s e o f o n e
s i g n a l from t h e a n g u l a r p c s i t i o n s e n s o r ( i , e . , t h s~i g n a l from

234
.. *-
5'.
t h e p i t c h o r bank c h a n n e l , b u i . o t t h e s i g n a l from t h e c o u r s e
c h a n n e l ) . An a n a l y t i c i n v e s t i g a t i o n o f t h e r e d u c t i o n p r o c e s s i s
c o m p l i c a t e d i n t h i s c a s e , and i s p o s s i b l e o n l y i n t h e r e g i o n of
small d e v i a t i o n s from t h e o r i e n t e d p o s i t i o n .

5.4. DYNAMIC ORIENTATION PROBLEM

The c o n d i t i o n s o f k i n e m a t i c s t a b i l i t y a r e a l s o t h e n e c e s s a r y
c o n d i t i o n s f o r dynamic s t a b i l i t y . An a d d i t i o n a l c o n d i t i o n o f
dynanic s t a b i l i t y i s , i n p a r t i c ~ l a r , t h e p r e s e n c e i n t h e e q u a t i o n
of a damping term, which c o ~ t a i n st h e a n g u l a r v e l o c i t y , w i t h a
6 e f i n i t e dependence of t h e c o n t r o l on t h e "kinematic" c o n t r o l
function.

We c o n s i d e r t h e exampl? o f dynamic c o n t r o l when t h e c o n t r o l - --

/ 227
l i n g f u n c t i o n i s shaped l i n e a r l y . L e t t h e r i g i d body motion be
d e s c r i b e d by t h e dynamic E u l e r e q u a t i o n s :

where J1, J2, J a r e t h e p r i n c i p a l c e n t r a l moments o f i n e r t i a

3
of t h e body and M , , M2, M a r e t h e e x t e r n a l ( a p p l i e d on t h e body)
- 3 4

controlling torques.

The E q u a t i o n s ( 5 . 5 1 ) , a l o n g w i t h t h e k i n e m a t i c e q u z t i o n s ,
f o r example, ( 5 . 3 ) c o m p l e t e l y d e s c r i b e t h e motion of t h e c o n t r o l l e d
body f o r t h e s t a t e o f i n e r t i a l o r i e n t a t i o n . The c o n t r o l l i n g
t o r q u e s Mi ( i = 1, 2 , 3 ) s h o u l d be s p e c i f i e d 7s f u n c t i o n s of
t h e a n g u l a r v e l o c i t i e s mi of the? body and t h e k i n e m a t i c p a r a m e t e r s ,
1
9
1
1
which d e t e r m i n e t h e d e v i a t i o n from t h e o r i e n t a t i o n p o s i t i o n . $t
I
We c o n s i d e r t h e c a s e w5en t h e k i n e m a t i c e q u a t i o n i s s p e c i f i e d 3
3
i n t h e form ( 5 . 6 ) . We w i l l s p e c i f y t h e c o n t r o l by t h e l i n e a r f
function: f4
235 B
 To i n v e s t i g a t e t h e s t a b i l i t y of such c o n t r o l , we w i l l f i n d t h e
Lyapunov f u n c t i o n i n t h e form:

where W i s t h e "kinematic" f ~ n c t ~ o( 5n . 4 ) , and t h e term V i s

determined by t h e "dynamics" of t h e body motion:

and e q u a l s t h e k i n e t i c energy of i t s motion. Obviously, t h e

f u n c t i o n ? i s p o s i t i v e - d e f i n i t e and h a s one zero a t t h e o r i e n t e d
p o s i t i o n r e l a t i v e t o t h e i n e r t i a l basis:

The d e r - i v a t i v e of t h i s f u n c t i o n composed i n view of Equations/-- 228

(5.51) and ( 5 . 3 ) w i l l e q u a l
i

S 3

i
By i n s e r t i c g t h e c o n t r o l ( 5 . 5 2 ) , we o b t a i n

I n t h e s i m p l e s t c a s e , one can s e t ki = J i and o b t a i n t h e

negat tve-def i n i t e f u n c t i o n !b, which v a n i s h n s only a t t h e r e q u i r e d
o r i e n t a t i o n p o s i t i o n . Hence, i t f o l l o w s t h a t c o n t r o l of t h e t y p e
(5.52) can e n s u r e accomplishment of t h e o r i e n t a t i o n ,

Rigid body o r i e n t a t i o n can b e accomplished w i t h more g e n e r a l

c o n t r o l f u n c t i o n s . I n p a r t i c u l a r , w e consid ,r c o n t r o l of t h e
type

23 6
where t h e f u n c t i o n s Fi belong t o t h e c l a s s ( 5 . 8 ) and t h e argument
of t h e c o n t r o l f u n c t i o n i s t h e d i f f e r e n c e of t h e a n g u l a r v e l o c i t y
of t h e r i g i d body motion and t h e " k i n e m a t i c " r e d u c t i o n v e l o c i t y ,
which i s shaped from t h e s i g n a l s from t!l+:a n g u l a r p o s i t i o n s e n s o r s .
The c o n t r o l ( 5 . 5 5 ) a l s o e n s u r e s s t a b l e r i g i d body o r i e n t a t i o n .

Let u s n o n s i d e r t h e e x p r e s s i o n ( 5 . 5 3 ) f o r t h e k i n e t i c energy
of t h e r i g i d body r o t a t i o n . The d e r i v a t i v e 9 composed i n accor-
dance w i t h E q u a t i o n s ( 5 . 5 1 ) and w i t h t h e c o n t r o l ( 5 . 5 5 ) w i l l
equal :

Otrviously, t h i s f u n c t i c n i s n e g a t i v e evcrywhere when (o,l>lZlh,l,

and pos'.tive when loli<l%,tl. i-Ience, i t folSows t h a t t h e c o n t r o l
(5.551, f o r lai*ge a n g u l a r v e l 3 c i t i e s , e n s u r e s a r e d u c t . i o n of t h e
body k i n e t i c enprgy t o a rnzgnitude ? o r r e s p o n d i n g t.0:

a n d , f o r small v e l o c i t i e s , i n c r e a s e s i t .

Thus, t h e c o n t r o l ( 5 . 5 5 ) t e n d s t o r e d u c e t h e motion t o --
/ 229
r o t a t i o n w i t h t h e a n g u l a r v e l o c i t i e s QN. Under s u f f i c i e n t l y
r i g i d c o n t r o l s , such motion can, i n p r a c t i c e , c o i n c i d e w i t h t h e
i n v e s t i g a t e 3 c a s e s of o r i e n t a t i o n . N o n e t h e l e s s , t h e c o n t r o l
( 5 . 5 5 ) d o e s n o t always e n s u r e a s y m p t o t i c convergence o f t h e pro-
c e s s t o z e r o . The form of t h e f u n c t i o n d e t e r m i n e s t h e n a t u r e of
t h e r e d u c t i o n of t h e system t o z e r o . Thus, n o n l i n e a r c o n t r o l
f u n c t i o n s c a n c a u s e n a t u r a l o s c i l l a t i o n s of t h e system a b o u t t h e
oriented position.

The s t u d y of r i g i d body motion f o r v a r i o u s c o n t r o l laws i s

a s e p a r a t e and v e r y e x t e n s i v e a r e a of i n v e s t i g a t i o n , and w e w i l l
l i m i t o u r s e l v e s t o c o n s i d e r a t i o n o f examples.
237
 5.5. EXAMPLES

We w i l l assume tha:: t h e c o n t r o l o f t h e r i g i d body m o t i o n i s

shaped w i t h t h e h e l p o f o.ngular p o s i t i o n s i g n a l s s u c h t h a t t h e
stab!? o r i e n t a t i o n a t t h e e q u i l i b r i u m p o s i t i o n i s e n s u r e d . Then,
t h e c o n t r o l c a n b e s p e c i f i e c l , f o r example, i n one o f t h e f o r m s
d e s c r i b e d i n t h e p r e c e d i n g p a r a g r a p h s . It i s i m p o r t a n t t h a t ,
f o r o r i e n t a t i o n i n some g i v e n c o o r d i n a t e s y s t e m , t h e m a g n i t u d e s
o f t h e components of t h e q u a t e r n i o n , which s p e c i f i e s t h e t r a n s -
i s t i o n s from t h e g i v e n c o o r d i n a t e s y s t e m t o t h e body s y s t e m , a r e
u s e d as a n g u l a r p o s i t i o n s i g n a l s . S u b s e q u e n t l y , t h i s q u a t e r n i o n
w i l l b e c a l l e d t h e mismatch q u a t e r n i o n .

We w i l l c o n s i d e r t h e v a r i o u s c a s e s OF o r i e n t a t i o n i n d i f f e r e n t
c o o r d i n a t e s y s t e m s f o r which t h e mismatch q u a t e r n i o n i s d e t e r m i n e d
by v a r i o u s means. An i m p o r t a n t a p p l i c a t i o n o f t h i s i s t h e con-
s t r u c t i o n of i n e r t i a l c o n t r o l systems with t h e use of t h e
p r i n c i p l e o f Cardanless systems.

I. L e t t h e p o s i t i o n of t h e r e f e r e n c e i n e r t i a l c o o r d i n a t e
system b e d e t e r m i n e d by i n t e g r a t i o n o f t h e k i n e m a t i c e q u a t i o n s .
Then t h e a n g u l a r v e l o c i t y i s measured w i t h t h e h e l p of a n g u l a r
v e l o c i t y s e n s o r s r i g i d l y f a s t e n e d i n t h e body a x e s . Without
d e c r e a s i n g t h e g e n e r a l i t y , we w i l l assume t h a t t h e r e s p o n s e a x e s
?.
2
of t h e a n g u l a r v e l o c i t y s e n s o r s a r e a r r a n g e d a l o n g t h e a x e s o f
9:
9
t.
t h e body b a s i s E. I n t h i s c a s e , tile s e n s o r s measure t h e corpon- -
/ 230
f. e n t s o f t h e a n g u l a r v e l o c i t y v e c t o r a&, and t h e kinematic e q u a t i o n
i
%, ( 3 . 1 1 ) must be used f o r i n t e g r a t i o n ,
cQ
C

g L e t t h e i n t e g r a t i o n b e g i n a t t h e t i m e t o and t h e q u a t e r n i o n
( 1 , 0, 0 , 0 ) be u s e d a s t h e i n i t i a l q u a t e r n i o n . I n t h i s c a s e ,
t h e q u a t e r n i o n A ! t ) o b t a i n e d as a r e s u l t of t h e i i ~ t e g r a t i o nw i l l
 I w i t h t h e i n i t i a l c o n d i t i o n I = ~ ( t ~ O)b v.i o u s l y , i f A(*) is
u s e d as t h e mismatch q u a t e r n i o n f o r s h a p i n g t h e a n g u l a r c o n t r o l
s i g n a l [analogous t o (5.6)], then with such c o n t r o l , t h e o r i e n t a -
t i o n w i l l b e a c c o m p l i s h e d s u c h t h a t t h e body a x e s a r e superimposed
with t h e corresponding axes of t h e reference b a s i s I = E ( t O ) A
b l o c k d i a g r a m of a s i m i l a r c o n t r o l s y s t e m i s p r e s e n t e d i n F i g u r e
5 . 4 , where t h e c l o s e d c i r c u i t of a n a u t o m a t i c c o n t r o l l o o p i s
shown. Wher c o n s i d e r e d s i m i l a r c i r c u i t s below, we w i l l n o t
d e p i c t the c l o s e d c o n t r o l loop, assuming t h a t i t i s always
p r e s e n t ( w e w i l l n o t d e p i c t t h e " c o n t r o l s h a p e r " and " c o n t r o l l e d
o b j e c t 1 ' b l o c k s ) . Our p r o b l e ~i n v o l v e s o b t a i n i n g t h e mismatched
q u a t e r n i o n , which i s t h e n e c e s s a r y c o n d i t i o n f o r o r i e n t a t i o n i n
t h e given coordinate system.

shaper
gauge

I Controlled 1 I

We w l l l now c o n s i d e r t h e o r i e n t a t i o n p r o b l e m , n o t i n t h e
b a s i s I = E ( t O ) , b u t i n a n o t h e r i n e r t l a l b a s i s , which we d e n o t e
by En. L e t t h e t r a n s i t i o n from Lhe b a s i s I t o t h e b a s i s En b e
d e t e r m i n e d by t h e q u a t e r n i o n An ( S i g u r e 5 . 5 ) . In t h i s c a s e , i t
i s necessary t o use f o r c o n t r o l t h e quaternion specifying t h e / 231
p o s i t i o n of t h e b a s i s E r e l a t i v e t o t h e b a s i s En, i . e , , t h e
q u a t e r n i o n A p . Obviously, t h e f o l l o w i n g r e l a t i o n i s s a t i s f i e d :

I;'
g.
g from which
 The b a s i s E w l l l be superimposed w i t h t h e g i v e n
I
b a s i s Ap w i t h c o n t r o l by t h e c u a t e r n i o n En ( 5 - 5 6 ) .

Another method f o r a c c o m p l i s h i n g o r i e n t a t i o n
i n t h e b a s i s En i s p o s s i b l e . O b v i o u s l y , i f *,ne
F i g u r e 5.5. q u a t e r n i o n Xn. i s u s e d a s t h e i n i t i a l condition a t
t h e b e g i n n i n g of t h e i n t e g z - a t i o n , t h e n t h e q u a t e r -
n i o n o b t a i n e d as t h e r e s u l t o f t h z i n t e g r a t i o n , i n a c c c r d a n c e w i t h
theorem 3 . 1 , w i l l be t h e q u a t e r n i o n ( 5 . 5 6 ) , i . e . , Ap w i l l a l s o
s a t i s f y t h e k i n e m a t i c e q u a t i o n . Hence, i t f o l l o w s t h a t o r i e n t a t i o n
r e l a t i v e t o t h e b a s i s En i s o b t a i n e d w l t h t h i s method.

F u r t h e r , l e t t h e o r i e n t a t i o n be a c c c m p l i s h e d r e l a t i v e c o t h e
b a s i s I = E ( t O ) a n d , a t some t i m e t , a t r a n s i t i o n t o o r i e n t a t i . o n
i n t h e b a s i s En i s r e q u i r e d . To a c c o n p l i s h s u c h a t r a n s i t i o n , i t
i s n e c e s s a r y t o u s e t h e q u a t e r n i o n A!;; ( 5 . 5 6 ) f o r c o n t r o l , i n
p l a c e of t h e q u a t e r n i o n A P ( ~ ) . Such a s h i f t o f c i n t r o l q u a t e r n i o n
i s c a u s e d by t h e r e q u i r e d ~ * e o r i e n t a t i o nof t h e o b j e c t , Thus, t h e
c o n t r o l system, i n which t h e k i n e m a t i c e q u a t i o n s a r e i n t e g r a t e d ,
p e r m i t one t o o b t a i n o r i e n t a t i o n r e l a t i v e t o any i n e r t i a l b a s i s ,
The t r a n s i t i o n from one b a s i s t o a n o t h e r i s t h e n accomplished by
p e r f o r m i n g a n a d d i t i o n a l m u l t i p l i c a t i ~ no p e r a t i o n ( 5 . 5 6 ) and by
u s i n g t h e r e s u l t s a s t h e mismatch q u a t e r n i o n . The b l o c k diagram
f o r such o r i e n t a t i o n i s presented i n Figure 5.6.

The t r a n s i t i o n from o r i e n t a t i o n i n t h e b a s i s I t o o r i e n t a t i o n
i n a n o t h e r b a s i s E c a n a l s o be a c c o m p l i s h e d by a n o t h e r method
Let t h e q u a t e r n i o n o b t a i n e d a s a r e s u l t of i n t e g r a t i n g t h e k i n e -
m a t i c e q u a t i o n s e q u a l A(,,) a t t h e t r a n s l t i o n t i m e t l . O b v i o u s l y ,
w i t h t h e i n t e g r a t i o n of t h e e q u a t i o n s b e g i n n i n g a t t h e t i m e t l ,
t o accomplish o r i e n t a t i o n i n t h e b a s i s I = E ( t O ) , i t i s necessary / 232 -
4
t o t a k e A(f1) a s t h e i n i t i a l c o n d i t i o n . I f t h e o r i e n t a t i o n were I
i. accomplished r e l a t i v e t o t h e b a s i s E n , , t h e n , a t t i m e t l , t h e
 Multiplication

gauge

magnitude of t h e q u a t e r n i o n wquld e q u a l I for the

same p o s i t i o n o f t h e b a s i s E ( t l ) ( c f . , F i g u r e 5 * 5 ) - Hence, i t
f o l l o w s t h a t , f o r t h e t r a n s i t i o n a t t ' l m e t l from t h e o r i e r t a t i o n
r e l a t i v e t o t h e b a s i s I t o o r i e n t a t i o n i n t h e b a s i s E n , one c a n
c o n v e r t a t t h i s t i m e from . i ( t l ) t o ~ i , o . ~ ( f l ) i n the integration
u n i t . Then one can u s e t h e b l o c k d i a g r a m of t h t c o n t r o l systern
shcwl. i n F i g u r e 5.4.

11. We c o n s i d e r t h e problem of o r i e n t a t i o n r e l a t d v e t d a
r o t a t i n g c o o r d i n z t e syste;n. An i n e r t i a l b a s i s 2, a b a s i s I
r o t a t i n g r e l a t i v e t o i t ar,d t h e body b a s i s E a r e shown i n F i g u r e
5.7. O b v i o u s l y , by a n a l o g y t o t h e p r e c e d i n g c a s e , i t i s n e c e s s a r y
t o g e n e r a t e t h e mismatch q u a t e r n i o n f o r o r i e n t a t i o n i n t h e b a s i s
A ( / ) i n t h e f o l l o w i n & form:

The q u a t e r n i o n A(t) i s o b t a i n e d a s a reslilt ?f i n t e g r a t i n g t h e

k i n e ~ a t i ce q u a t i o n s on t h e b a s i s o f m e a s u r i n g t h e a n g u l a r
v e l o c i t y U E w i t h t h e c o r r e s p o n d i n g s p e c i f i c a t i o n of' i n i t i a l
c o n d i t i o n s . The q u a t e r n i o n M c a n be o b t a i n e d ( i f i t i s n o t kr,own
b e f o r e h a n d f o r e v e r y lnoment of t i m e ) from t h e magnitude of t h e
r o t a t i o n a l a n g u l a r v e l o c i t y oo o f t h e b a s i s T by i n t e g r a t i n g t h e
k i n e m a t i c e q u a t i o n s w i t h t h e n e c e s s a r y s e l e c t i o n of t h e i n i t i a l
c o n d i t i o n s . Then any form c f t h e k i n e m a t i c e q u a ~ i o nt ( 3 . 1 1 ) c ? i 233
( 3 . 1 2 ) j c a n be u s e d , t h e c h o i c e c a n be made d e p e n d i n g on which
basis has t h e simplest ex2ressior The b l o c k diagram of s u c h
o r i e n t a t i o n i s p r e s e n t e d i n F i g u r e 5.8.
 Angular * r -
Integratioll Multiplication
---+ velocity - unit unit
, gacgz
4 L

1nt:;t iorl
:

F i g u r e 5.7. F i g u r e 5.8.

Such o r i e n t a t i o n c a n b e o b t a i n e d i n a n o t h e r f a s h i o n . We
n o t e t h a t t h e r e q u i r e d q u a t e r n i o n hp s a t i s f i e s t h e k i n e m a t i c
e q u a t i o n [ c f . , Equ- , i o n ( 5 . 2 3 ) ] :

o b t a i n e d from (5.57) w i t h c o n s i d e r a t i o n o f

The v e c t o r U E ( h a v i n g a s i t s components t h e p r o j e c t i o n s o f
o o n t o t h e body axe;) i s t h e measured a n g u l a r v e l o c i t y v e c t o r .
I n a d d i t i o n , t h e r o t a t i o n v e c t o r ~u o f t h e f i x e d b a s i s I c a n be
s p e c i f i e d i n p r o j e c t i o n s o n t o t h e a x e s o f t h i s b a s i s (and n o t t h e
b a s i s E ) . I n c o n n e c t i o n w i t h t h i s , one c a n p r o v i d e an i n t e g r a t i o n
u n i t e x e c u t i n g Eqilzt.ion ( 5 . 5 8 ) . I n t h i s c a s e , t h e b l o c k diagram
f o r o r L e n t a t i o n i n a r o t a t i n g b a s i s c a n be t h e diagram ( c f . ,
F i g u r e 5 . 4 ) w i t h t h i s i n t e g r a t i o n u n i t . One s h o u l d n o t e t h a t ,
i n s e v e r a l c a s e s , t h e diagram p r e s e n t e d i n F i g u r e 5.8 c a n be more
p r e f e r a b l e , s i n c e t h e p o s i t i o n s o f t h e two c o o r d i n a t e s y s t e m s
I and 2 a r e m a i n t a i n e d c o n t i n u o u s l y i n t h i s c a s e , and i t i s
p o s s i b l e t o a c c o m p l i s h o r i e n t a t i o n i n e i t h e r o f the-n.

Apart from o r i e n t a t i o n d i r e c t l y i n t h e b z ~ i sI, t h e p r e s e n t e d

diagram p e r m i t s one t o a c c o m p l i s h o r i e n t a t i o n i n t h e b a s i s fin -
1/ 234
having a f i x e d s p e c i f i e d (programmed) p o s i t i o n r e l a t i v e t o I ,
which i s c h a r a c t e r i z e d by t h e q u a t ~ r n i o nAn. L e t t h e r e l a t i v e
p o s i t i o n of 5he b a s e s 2, I, E,. and E be d e t e r m i n e d ky the q u a t e r n i o n s
Figure 5.9. F i g u r e 5.10.

51. A,. A,snd A i n a c c o r d a n c e w i t h Fiyurc? 5 . Q . Obviouslq , t.he

justernion:

s h o u l d b e u s e d f o r c o n t r o l f o r o r i ~ - n t s t i o nr e l a t l v e t o t:le b s s i s
E,. The block d i a g r a m of s u c h o r i e n t a t i o n i s p ~ e s t - n t e d i r ?

the mult.ipli.saticn 01' t h e quatei-lliim

-
P i c u r e 5.8, which i n c l u d e s a n o t . h e r rnult i p l i c a t io:l
.\, b;
tc.lit per*fol'rniti~
t h e q u s t t>xat~ion$toA.

S i n c e t h e q~l,?tt.r>niorl. i p (5.5C)) s 3 t i s f i . - s (!'or 3 c~3nstant zm)

E q u a t i o n ( 5 .F8), t h e n t h e same t,ypc (21' o 1 8 i e n t s tic>ll 2311 a l s ~ ?b e
d b t a i n s d i n t.he b l o c k d i ~ g r i, n~ P i $ u t 8 t 5.4 ~ i t th . 1 ~; ~ s c~ 7 f a n
intec:ration u n i t e x e c u t i n g Equat i n n (5.53). For ?he t.ransit i o n
from o r i e n t a t i o n th
i i ~ e b a s i s I t o o r i e n t . c ? t . i o n i n t,hc b s s i s
En
st t h e t i m e t i t i s n r c e s s s l - y t o p r o d u c e I n t.he inteL:rr\t.or a
3'
chsnlr,e o f t h e i t ~ i t i a lc o n d i t l o n s : o n e s h o u l d w x ' i t e t h e quan:. i t y
A,(t,) i r l p l a c e o f t h e y u s t c ~ * n i o n h , , o ~ , ( t , o) btained as t h e r e s u l t
of 1 r r t e g ; r a t i o n . Then, s s f o l l o w s f r o m r e l : ~ t i o n s ( 5 . 5 7 ) a n d ( 5 . 5 8 ) ,
t h e 1 - e q u i r e d m a g n i t u d e of t h e mismat,ch q u a t e r n i o n ( 5 . 5 9 ) w i 11 h e
obtained.

111. I n i n v e s t i g a t i n g t h e methods f o r s c c o n p l i s t ~ l ~ ~ ~
o ~ i e n t a t i o ni n a r a t a t . i n g b a s i s
i t was assumed t h a t t h e q u a t e r -
n i o n s A(*) a n d M ( t ) , which a r e o b t a i n e d as a r e s u l t o f i n t . e g r r i t . i r t c
t h e kinematic equations, o r t h e qunternion ~ , ( t ) i t s e l f have
c o r r e s p o n d i n g l y s e l e c t e d i n i t i a l c o n d ? t i o i l s , which e n s u r e t,he
 r e q u i r e d o r i e n t a t i o n o f t h e b a s i s I (and Z). However, t h i s d o e s
n o t a l w s y s o c c u r i n p r a c t i c e , and t h e b a s i s I , i ! ~
which the olai?n-
t a t t o ! ) i s ::irri,ed o u t , d;?e,c r10t coincide with t h e required b a s i s
IO ( b e c a u s e of d r i f t and e r r o r s i n t h e i n i t i a l c o n d i t i o n s ) .

L e t u s assiime t h a t a n rtrlgular p o s i t i o n s e n s o r i s f a s t e n e d f a
t h e c o n t r o l l e d o b j e c t , 1 - e . , t o t h e b s s i s E , which d e t e r m i n e s t h e
o r i e n t a t i o n o f t h e bssis E r e l a t i v e t o t h e b a s i s I O . Without /
d e c - e a s i n g t h e g e n e r a l i t y , we w ? l l a s s u n e t h a t t.he s e n s o r m e a s u r e s
t h e components o f t h e quat.ertllon N ( t ) , which d e t e r m i n e s t h e t r a n s -
i t i o n from t h e b s s i s IF t o t h e b a s i s E ( F i ~ u r e5 . 1 0 ) . Let t h e
mismatch of t h e b a s e s IOand I be d e t e r m i n e d by q u a t e r n i o n P.
O b v i o u s l y , i t i s p o s s i b l e t o d e t e r m i n e P from t h e a v z i i l a b l e
q u a t e r n i o n s AP and N

T h e m o t i o n of t h e b a s i s I r e l a t , i v e t o t h e i n e r t - - 1 1 b a s i s 2
i s s p e c i f i e d by t h e q u a t e r n i o n M and o c c u r s w i t h t h e a n g u l a r
v e l o c i t y a'; t h e same motion o f t h e b 3 - i ~ I9 r e l a t i v e t u t h e
b a s i s Z o c c u r s w i t h t h e v e l o c i t y c* and i s s p e c i f i e d by t h e
q u a t e r n i o n MO. Then t h e problem o f i n v e s t i g a t i n g t h e r e l a t i v e
motion o f t h e b a s e s I and IOc o m p l e t e l y c o i n c i d e s w i t h t h e problem
c o n s i d e r e d i n P a r a g r a p h 5.3 of o r i e n t a t i o n i n a r o t a t i n g c o o r d i n -
a t e system. A c t u a l l y , w e have, f o r t h e q u a t e r n i o n P, i n accordance
w i t h F i g u r e 5.10:
P=&,~M,

from which we o b t a i n t h e e q u a t i o n of t h e r e l a t i v e m o t i o n :

...
where, i n a c c o r d a n c e w i t h t h e c o n d i t i o n p r e s e n t e d a b o v e :

3
 r e d u c i n g t h e b a s i s I t o t h e b a s i s 10, i t i s n e c e s s a r y
i 1 7 ~ ~

t o i n t r o d u c e a n a d d i t i o n a l c o r r e c t i o n a n g u l a r v e l o c i t y Q,, o f
t h e motion of t h e b a s i s I, i . e . , t h e t o t a l angul:~, v e l o c i t y o f
the I must e q u a l :

I n t h i s c a s e , Equation (5.61) changes i n t d t h e e q u a t i o n o f t h e

c o r r e c t e d c o o r d i n a t e system:

a n a l o g o u s t o E q u a t i o n ( 5 . 2 3 ) . A c c o r d i n g l y , t h e s e c o n d e q u a t i o n o f ---
/ 236
( 5 . 5 2 ) , which d e t e r m i n e s t h e m o t i o n o f t.hc r o t a t i n g b a s i s I
r e l a t i v e t o the i n e r t i a l b a s i s 2 , c h a n g e s i n t o t h e e q u a t i o n :

The e x e c u t i o n o f t h i s e q u a t j o n s h o u l d a l s o be a c c o m p l i s h e d
t o s e r v e t h e p r g b l e m of c o r r e c t i n g t h e b a s i s I . The a v a i l a b l e
( c 3 l c u l a t e d ) q u a t e r n i o n ( 5 . 6 0 ) c a n b? u s e d t o s h a p e t h e c o r r e c t i o n
q i g n a l . A l l t h e c o r r e c t i o n methods considered i n Paragraph 5.3
then ensure a s t a b l e process f o r reducing the b a s i s I t o the
b a s i s IO. The b l o c k d i a g r a m o f s u c h a c o n t r o l p r o c e s s w i t h
p o s i t i o n c o r r e c t i o n o f t h e b a s i s I i s p r e s e n t e d i n F i g u r e 5.11.
A s i s s e e n i n t h e f i g u r e , t h i s d i a g r a m h a s two c o n t r o l l o o p s : the
rqigid body p o s i t i o n c o n t r o l l o o p a n d t h e c o r r e c t i o n l o o p , which
r e d u c e s t h e b a s i s I t o t h e r e q t ~ i r e dp o s i t i o n .

We n o t e , i n c o n c l u s i o n , t h a t t h e a n g u l a r p ~ s i t i o ns e n s o r d o e s
n o t n e c e s s a r i l y have t o h a v e a l i n e a r c h a r a c t e r i s t i c I n t h e f u n c -
t i o n o f t h e components of t h e q u a t e r n i o n N a n d t o m e a s u r e t h e
 t

A ~ u l t i ~ l i c a t i o n -' A ~
r *
unf t
i
T
AM
1 I

Correction
shapera
44, Integration
unit
.-
1
I
Multiplication
sensor
F i g u r e 5.11.

q u a n t i t y N f o r any p o s i t i o n o f t h e b a s i s E. With a c t u a l o p e r a t i o n
w
o f t h e c o n t r o l l o o p , t h e magnitude d f the mismatch .I,, w i l l be / 237
s m a l l , a n d , f o r small d z v i a t i o n s o f t h e b a s i s I from t h e h a s i s I
0'
t h e q u a t e r n i o n P w i l l a l s o be c l o s e t o one. F o r s m a l l d e v i a t i o n s ,
t h e f o r m u l a ( 5 . 6 0 ) c h a n g e s i n t o t h e v e c t o r fcrm f o r a d d i n g t h e
s m a l l v e c t o r s o f t h e a n g u l a r m i s m a t c h e s . It c a n be shown t h a t a
r a t h e r wide c l a s s o f f u n c t i o n a l dependences o f t h e z n g u l a r p o s i -
t i o n o u t p u t s i g n a l s c a n be u s e d f o r c o r r e c t i o n . However, t h e
i m b - e s t i g a t i o n o f t h i s q u e s t i o n i s r a t h e r c o m p l i c a t e d and i s s p e c -
ialized i n nature.

The p r e s e n t e d d i a g r a m s f o r c o n s t r u c t i n g a c o n t r o l s y s t e m c a n
b e u s e d , f o r example, f o r o r i e n t a t i n g s p a c e c r a f t i n a n o r b i t a l
c o o r d i n a t e s y s t e m w i t h i t s f l i g h t a b o u t a p l a n e t . S e n s o r s , which
d e t e r m i n e t h e d i r e c t i o n t o w a r d t h e c e n t e r of t h e p l a n e t o r t h e
d i r e c t i o n of the s p a c e c r a f t v e l o c i t y vector, can serve a s angular
position sensors.

IV. I n a m a j o r i t y of p r a c t i c a l c a s e s o f i n e r t i a l o r i e n t a t i o n ,
, . a n a r b i t r a r y p o s i t i o n of t h e i n e r t i a l b a s i s I i s n o t r e q u i r e d ,
b u t a d e f i n i t e p o s i t i o n , which i s l i n k e d , f o r example, t o a
eel-estial c o o r d i n a t e s y s t e m ( e q u a t o r i a l , e c l i p t i c , e t c . ) . We
d e n o t e t h i s r e q u i r e d p o s i t i o n o f t h e c o o r d i n a t e s y s t e m by I O .
 O b v i o u s l y , f o r t h e b a s i s I t o b e superimposed w i t h
t h e b a s i s 10, i t i s n e c e s s a r y t o b e g i n t h e i n t r g r a -
t i o n o f t h e kinemati: e q u a t i o n s i n t h e i n t e g m t i o n
u n i t ( c f . , F i g u r e 5 . 4 ) a t t h e moment when t h e
b a s i s E c o i n c i d e s w i t h t h e b a s i s IO.

F i g u r e 5.12. However, t h e r e i s a n o t h e r p o s s i b i l i t y f o r
t h e s u p e r p o s i t i o n of t h e b a s e s I and 10,which
becomes n e c e s s a r y b e c a u s e of t h e d r i f t s o f t h e b a s i s I when
i f l t e g r a t i n g t h e k i n e m a t i c e q u a t i o n s , and a l s o when i t i s impos-
s i b l e t o advance t h e b a s i s I t o t h e p o s i t i o n o f IO. L e t s t e l l a r
s e n s o r s , which p e r m i t one t o d e t e r m i n e t h e p o s i t i o n o f t h e b a s i s
E relative t o the basis I b e e s t a b l i s h e d i n t h e b a s i s E.
0'
Without s p e c i f y i n g t h c t y p e o f t h e s e s e n s o r s , we w i l l assume
t h a t t h e y measure t h e components of t h e q u a t e l - n i o n N ( F i g u r e 5 . 1 2 ) .

S i n c e t h e v a l u e of t h e q u a t e r n i o n .5(1) i s c a l c u l n t e d i n t n e / 238
i n t e g r a t i o n u n i t and i s t h u s s known q u a n t i t y , t h e n i t i s
p o s s i b l e t o c a l c u l a t e t h e q u a t e r n i o n P , which c h a r a c t e r i z e s t h e
mismatch of t h e b a s e s I and 10,from t h e r e l c t i o n ( 5 . 6 0 ) . I n
view of t h e f a c t t h a t t h e b a s e s I and IO a r e i n e r t i a l , t h e
q u a t e r n i o n P -mains c o n s t a n t . We i n t r o d u c e t h e c o r r e c t i o n
a n g u l a r v e l o c i t y Q,, which w e w i i l add t o t h e v e l o c i t y WE a t t h e
i n p u t of t h e i n t e g r a t i o n u n i t , and s p e c i f y t h e q u a n t i t y Qr as
a f u n c t i o n o f t h e q u a t e r n i o n P.

The motion o f t h e b a s i s E r e l a t i v e t o t h e b a s i s IO 2 r o c e e d s
w i t h t h e same a n g u l a r v e l o c i t y U E ( t h e a b s o l u t e a n g u l a r v e l o c i t y
o f t h e motion o f t h e b a s i s E); t h u s , we have t h e e q u a t i o n f o r
t h e change o f N:
 *
Ang~ilar 11ltcgrntIon
vtlocity - a,
t:3ut;e unlt

The equ,?tic)n, which i s e s e t - u t e d i n t h e i n t < \ ; ~ r : ~ t i o rurn i t w i t.fi t t i c

t.31it~11
CO~*I*~C\~~C >II i t : t ~:tcc?ount, :. w i l l be

2 i p-- (a, Q,)+ 0 -4, = .\, 0 (of+ Oh,) =.\, 0 mE +Qrl o A,. (5.[;5)

.-
tience, I n : I C C ' ~ I ' ~ ~ : *w
T i~tC
h ~ (>G . t ? i ? ) , wt' c>t>t:iltl t t l c ~twoll<>wiq:
rqustir3:l, which d e s c r i b e s t h e mot i o n ~ l ft h e bctsis I ~ ~ e l rivct tt ti, ' 2 39
L--
the basis I
0:
. -
2~=2~0.~,-?~o.l,o.\,oA,-
- . -
=a- .~P-Pc(~~+Q.~)--PoQ~, (G.c;G)

s i n c e ~ l , o P - = P o i . ~ ,. E q u a t i o n ( 5 . 6 6 ) I t l d i c ~ t t ' s ttiat. ftle J ~ ~ * P ~ ' C P02'S

c C > ~ - r e c t , i l ltgh e p o s i t . i o n 01' t.he b a s i s I i s i d e n + i c : ~ l t c t.hr ~*:lse

c o n s i d e r e d i n F'ar3t:rsph 5 . 2 ot' ~ i r * i e t l t : ~ t . i ~i n
~ t l311 In~rti:il
coardinate syst~\m.

The b l o c k diq:r*arn f o r o r i r t n t n t i o n I n t h c ck)rrc.~'t.t-tl s y s t c t n I

i s p r e s e n t e d i n F i g u r e 5.13. The i t : ? e g r a t i o n u n i t , i n t h i s
case, s h o u l d executt. t h e e q u a t i o n i n t-,he r'or*m (';.ti?). Thc
s y s t e m a l s o c o n t s i n s l o o p s f o r 01-ier:t.atlon :inJ c o t * r ~ e c t . i o no f t.ht3
reference basis. W e n o t e t h a t g e n e r a t , i ~ q : t h e m n s n l t . u d c <)t' t,tlc
corr.ect.ic7n n n g u l s r v e l o c i t y ft-om t h e s t e l l a l * s e t ~ s o ~s i*$ t l ; ~ l sis ;I

s p e c i a l problem. The c o n ~ p l e x i t y o f t h i s proh1t.m i n v o l v e s t h e

f a c t t h a t t.he s t e l l a r s e n s o r s h a v e l i m i t . e d o u t p u t . c . I ~ n r 3 n c t t ~ ~ * i s t t i l - s ,
t h e i r o u t p u t s i g n a l s c h a r a c t e r i z e t,he vt.c.torm ,)f t h c atlt:ul;~r
mismatch i n a r b i t r a r y a x e s , which are d e t e r m i n e d by t h e a r r a n g e -
ment o f t h e s i g h t i n g s t a r s . I t i s p o s s i b l e t o a c c o m p l i s h
c o r r e c t i o n w i t h i n c o m p l e t e and e x c e s s i n f o r m a t i o n from t h e
s e p s o r s . T h i s problem a l s o r e q u i r e s s p e c i a l i n v e s t i g a t i o n .

The examples c o n s i d e r e d h e r e i n d i c a t e t h a t c o m p l e t i o n of
t h e o r i e n t a t i o n of v a r i o u s t y p e s c a n be a c c o m ~ l i s h e di n t h e
diagrams u s i n g two s t a n d a r d o p e r a t i o n s : i n t e g r a t i o n o f t h e
kinematic e q u a t i o n s and q u s t e r n i o n m u l t . i p l i c a t . i o n .
 CHAPTER 6

OPTlMUM SPATIAL TURNS OF A R I G I D BODY

The problem of a n optimum s p a t i a l t u r n o f a r i g i d body h a s

received p r a c t i c a l i n t e r e s t with i n v e s t i g a t i o n of problems
of s p a c e c r a f t c o n t r o l . Up t o t h e p r e s e n t time, t h e r e h a s b e e n a
number o f works d e v o t e d t o t h i s problem, i n which some p a r t i c u l a r
c a s e s h a v e been s o l v e d . Among t h e s e a r e t h e o p t i m i z a t i o n o f a
p l a n e t u r n a b o u t one o f t h e p r i n c i p a l a x e s of i n e r t i a of t h e body
2nd o p t i m i z a t i o n of t h e t u r n c o n t r o l of a r a p i d l y r o t a t i n g body
i n s p a c e [18, 50, 611.

The ,~r.oblcm of a n optimum t u r n , i n o u r v i e w , i s o n e o f t h e

most c o m p l i c a t e d problems of t h e o r e t i c a l m e c h a n i c s . The f o r m a l i s m
of t h e t h e o r y of optimum c o n t r o l l e a d s , i n t h e g e n e r a l c a s e , e i t h e r
t o l i n e a r d i f f e r e n t i a l equations with v a r i a b l e c o e f f i c i e n t s , o r
t o n o n l i n e a r e q u a t i o n s , whose s o l u t i o n c a n n o t b e o b t a i n e d i n
g e n e r a l forni. The problem o f c o ~ ~ s t r u c t i noptimum g c o n t r o l of a
s p a t i a l t u r n as a f u n c t i o n o f t h e p h a s e c o o r d i n a t e s and v e l o c i t i e s ,
-. c . , t h e problem ~ f s y n t h e s i z i n g optimum c o n t r o l , i s even f u r t h e r
fl-om comp1e:ion.

The problem o f o p t i m i z i n g a s p a t i a l t u r n of a r i g i d body w i t h

r e s p e c t t o t h e s p e e d of r e s p o n s - w i l l be c o n s i d e r e d i n t h i s
c h a p t e r . The problem of t h e s o - c a l l e d k i n e m a t i c t u r n , where t h e
m a g n i t u d e s o f t h e a n g u l a r v e l o c i t y components of t h e r i g i d body
a-e t h e cont:*ol, w i l l be i n v e s t i g a t e d i n t h e f!rst f o u r p a r a g r a p h s .
T h i s problem is c o m p l e t e l y s o l v e d . It i s shown t h a t c o n t r o l by
q u a t e r n i o ~ l si s c l o s e t o optimum. T h i s f a c t g i v e s a g r e a t a d v a n t a g e
t o t h e c o n t r o l , which i s c o n s t r u c t e d from t h e components o f t h e
mismatch q u a t e r n i o n .

The problem o f t h e dynamic optimum t u r n i s c o n s i d e r e d i n t h e

n e x t two p a r a t g r a p h s i n a f o r m u l a t i o n of o p t i m i z i n g t h e t u r n w i t h
r e s p e c t t o t h e s p e e d of r e s p o n s e a n d w i t h r e s p e c t t o t h e f u e l
c o n s u m p ~ i c ni n t h e t u r n . The s o l u t i o n o f t h e problem i s g i v e n
f o r t h e p a r t i c u l a r c a s e of c o n t r o l o f a r i g i d body w i t h s p h e r i c a l
symmetry.

6.1. KINEMATIC OPTIMUM TURN. FORMULATION OF THE PROBLEM

By t h e k i n e m a t i c problem o f a s p a t i a l t u r n o f a r i g i d body,
we w i l l mean t h e problem of c o n t r o l l i n g t h e motion o f r i g i d body,
when t h e c o n t r o l l i n g f u r , c t i o n i s t h e magnitude of t h e a n g u l a r
v e l o c i t y o f t h e r i g i d body m o t i o n . I n t h i s c a s e , t h e e q u a t i o n s
of m o t i o n o f t h e c o n t r o l l e d o b j e c t ( i . e . , t h e r i g i d body) . i l l
be t h e k i n e m a t i c e q u a t i o n s , i n which t h e a n g u l a r v e l o c i t y compon-
e n t s are t h e c o n t r o l f u n c t i o n . O b v i o d s l y , s u c h a f o r m u l a t i o n of
t h e problem d o e s n o t t a k e i n t o a c c o u n t t h e f a c t t h a t t h e m o t i o n
of a r i g i d body i s a c t u a l l y d e s c r i b e d by t h e dynamic E u l e r
e q u a t i o n s ( 5 . 5 1 ) and t h a t t h e mdgnitudes of t h e t o r q u e s a c t i n g
on t h e body a c t u a l l y eme?ge a s t h e c o n t r o l f u n c t i d n ( s u c h i s j u s t
t h e f o r m u l a t i o n of t h e problem of t h e dynamic t u r n o f a r i g i d
b o d y ) . N o n e t h e l e s s , t h e k i n e m a t i c problem o f a s p a t i a l t u r n h a s
p r a c t i c a l v a l u e . A c t u a l l y , t h e c o n t r o l system f o r t h e s p a t i a l
o r i e n t a t i o n o f a r i g i d body ( f o r example, s p a c e c r a f t ) i s c o n s t r u c -
t e d s u c h t h a t t h e c o n t r o l i s a l w a y s a c c o m p l i s h e d by t h e t h r e e
components ( p r o j e c t i o n s ) o f t h e a n g u l a r v e l o c i t y of t h e body.

Let u s c o n s i d e r t h e p o s i t i o n of a r i g i d body d e s c r i b e d by
t h e body b a s i s E. We w i l l s p e c i f y t h e motion of t h e b a s i s E
r e l a t i v e t o a r e f e r e n c e b a s i s I by t h e q u a t e r n i o n A . T h i s motioy:
 i s d e s c r i b e d by t h e k i n e m a t j c E q u a t i o n ( 3 . 1 1 ) , which w e w r i t e i n
q u a t e r n i o n and c o o r d i n a t e forms:

where oi (i 1, 2, 3) are t h e c o r n p o ~ ~ e n tof

2 s t h e a n g u l a r v e l o c i t y of
t h e motion of t h e b a s i s E r e l a t i v e t o t h e b a s i s I i n t h e p r o j e c -
t i o n s o n t o t h e a x e s of t h e b a s i s E.

The q u a n t i t i e s oi - a r e t h e c o n t r o l f u n c t i o n s i n t h i s problem./ 242

We w i l l assume t h a t t h e s e t of f u n c t i o n w,(t) i s bounded. We w i l l
d e n o t e t h i s s e t by t h e symbol =E and w i l l c o n s i d e r t h a t i t i s
closed :

We w i l l c o n s i d e r t h e motion' i n t h e t i m e i n t e r v a l [to, Tj .
We
w i l l s p e c i f y t h e i n i t i a l p o s i t i o n of t h e body by t h e q u a t e r n i o n
E
2 &, and i t s f i n a l p o s i t i o n by t h e q u a t e r n i o n A T , i . e . , wlrt have
t t h e f o l l o w i n g boundary c o n d i t i o n s on t h e m o t i o n ;

A (to) = A, A (7') =A,

f-
9 We w i l l l o o k f o r t h e c o n t r o l oi(t) , which minirr.izes t h e t r a n s i t i o n
k
e8 t i m e from t h e i n i t i a l t o t h e f i n a l p o s i t i o n . E q u a t i o n s ( 6 . 1 )
t o g e t h e r w i t h t h e c o n d i t i o n s ( 6 . 2 ) and ( 6 . 3 ) , c o m p l e t e l y d e t e r -

*
$B mine t h e k i n e m a t i c problem of a qoat3.al f u r n .

Let u s c o n s i d e r t h e k i n e m a t i c E ~ u a t i o n( 3 . 1 2 ) . Obviously,
t h e e q u a t i o n i n t h i s form h a s a more l i m i t e d a p p l i c a t i o n , s i n c e
it r e f l e c t s t h e p r o c e s s o f c o n t r o l o f t h e r i g i d body motion when
 t h e components of t h e a n g u l a r v e l o c i t y p r o j e c t i o n s o n t o t h e
i n i t i a l r e f e r e n c e b a s i s are t h e c o n t r o l f u n c t i o n . I n v e s t i g a t i o n
of t h e second form o f t h e k i n e m a t i c e q u a t i o n i s o f g r e a t e r
theoret l c a l i n ~ e r e s t .
We w r i t e t h e e q u a t i o n of motion ( 3 . 1 2 ) i n q u a t e r n i o n and
c o o r d i n a t e forms :
21i =al OA,
2~o= - - - A3Q3, I
where $2, (1 = 1.2. 3) a r e t h e components of t h e a n g u l a r v e l o c i t y of
t h e motion of t h e basis E r e l a t i v e t o t h e b a s i s I i n p r o j e c t i o n s
o n t o t h e a x e s of t h e b a s i s I .

We w i l l c o n s i d e r t h e c o n t r o l l i m i t i e d , i , e . , / 243

. w h e r e t h e s e t S l w i l l be c o n s i d e r e d d i s t i n c t from t h e s e t ( 6 . 2 ) .
The c o n d i t i o n s ( 6 . 3 ) w i l l s e r v e a s t h e boundary c o n d i t i o n s of t h e
mot.ion f o r t h i s c a s e .

Lrt us proceed t o formulation of t h e necessary conditions

f o r c o n t r o l o p t i m i z a t i ~ nw i t h r e s p e c t t o t h e speed of r e s p o n s e ,
f o r which we w i l l u s e t h e f o r m a l i s m o f P o n t r y a g i n t s p r i n c i p l e
of t h e maximum r 6 , 4 1 1 .

We w i l l i n t r o d u c e t h e supplementary f u n c t i o n s go,g,, ql,gS ,

c o r r e s p o n d i n g t o t h e phase v a r i d b l e s ho, 11,11, A S , which c o m p l e t e l y
d e f i n e t h e motion. Ne w i l l s e t up t h e Hamiltofiian f o r t h e
e q u a t i o n s o f motion ( 6 . 1 ) :
 The f u n c t i o n s \ti (i=O, 1, 2, 9) must s a t i s f y t h e s o - c a l l e d c o n j u g a t e
s y s t e m of e q u a t i o n s :

which, i n a c c o r d a n c e w i t h ( 6 . 6 ) , t a k e s t h e form

To d e t e r m i n e t h e c o n t r o l , we have f o u r s c a l s r e q u a t i o n s o f
motion ( 6 . I ) , f o u r E q u a t i o n s ( 6 . 8 ) , and t h r e e c o n d i t i o n s f o r t h e
maximum, which i n v o l v e t h e f a c t t h a t , f o r optimum c o n t r o l , t h e
f u n c t i o n %E ( 6 . 6 ) r e a c h e s a maximum on t h e s e t Er ( 6 . 2 ) :

We have e i g h t boundary c o n d i t i o n s ( G 1 3 ) fbdi, t h e e i g h t d i f f e r e n - / 2 4 4

t i a l E q u a t i o n s ( 6 . i ) 2nd ( 6 . 8 ) . Thus, t h e s o l u t i o n s h i ( / ) , $i(!)~and
t h e c o n t r o l @ k i t ) must b e u n i q u e l y d e t e r m i n e d . However, t h e
c o n d i t i o n s ( 6 . 9 ) d e t e r m i n e t h e c o n t r o l or as a f u n c t i o n of t h e
1

. L q u a n t i t i e s $1 and x i , and Equat! ons (13'. 1) and ( 6 . 8 ) a r e l i n e a r

. i;
e q u a t i o n s , whose v a r i a b l e n o e r f i c i e n t s a r e f u n c t i o n s o f ah. Hence,
i t i s s e e n t h a t t h e s e e q u a t i o n s canpot be s o l v e d d i r e c t l y ( s i n c e
i
*
t h e r e i s no g e n e r a l s o l u t i o n f o r l i n e a r d i f f e r e n t i a l e q u a t i o n s
iI w i t h v a r i a b l e c o e f f i c i e n t s a n d , i n t h i s c a s e , t h e r e i s a l s o no
g
i g e n e r z l s o l u t i o n of t h e kinematic e q u a t i o n s ) .
 F o r t h e s e c o n d f n l m f o r p r e s e n t i n g t h e p r o b l e m of a n optimum
kinematic t u r n , i . e . , f o p E q u a t i a n s ( 6 . 4 ) , we o b t a i n ( f o r t h e
s a x e d e s i g n a t i o n s of t!le s u p p l e n e n t a i 3 y r ' u n c t i o n s %'I ! t h e f o l l o w i n g
Hamiltonian:
= (As1b) = - -
81 2
1
$0 ( A + A2Q2 + h3Q3)+
+? I
$1 f A3% - i-$3) 3)+ 5I + ?s1Q3- h3Ql)+
$2 (A002
(6.10)

F o r t h i s c a s e , t h e c o n j u g a t e sjstem o f E q u a t i o n s ( 6 . 7 ) t a k e s t h e
form:

The c o n t r o l QI, f.5 = 1, 2. 3) w i l l b e optimum, i f t h e H a m i l e o ~ i a n

r e a c h e s a maximum w i t h t h i s cont.1-01, i . e . ,

The c o n d i t i o n f o r t h e maximum ( 6 . 1 2 ) , t o g e t h e r w i t h E q u a t i o n s
( 6 . 4 ) a n d ( 6 . 1 1 ) w i t h ch6 b o u n d a r y c o n d i t l o n s ( 6 . 3 ) , a r e s u f f i - .
c i e n t t o d e t e r m i n e t h e optimum c o n t r o l and t h e c o r r e s p o n d i n g
m o t i o n . However, we h a v e h e r e t h e same d i f f i c u l t y a s i n t h e --
/ 245
p r e c e d i n g c a s e : t h e s o l u t i o n o f t h e k i n e m a t i c e q u a . ~ i o n? o r a r h i -
t r a r y f u n c t l o n s %(I) c a n n o t b e o b t a i n e d d i r e c t l y .

5 6.2. SOLUTION OF THE KINEMATIC OPTIMUM TIJRN PROBLEM

The s o l u t i o n of t h e k i n e m a t i c opt.inum t ~ ~ rprr;o ~ l e mc a n b e

o b t a i n e d , t h a n k s t o t h e f a c t t h a t t h e s y s t e m s o f c o n j u g a t e Equa-
t i o n s ( 6 . 8 ) and ( 6 . 1 1 ) f o r ti*? s u p p l e m e n t a r y v a r i a b l e s q~incide
$8
w i t h t h e e q u a t i o n s o f motion ( 6 . 1 ) and ( 6 . 4 ) , r e ~ p e c t i v e l y . ~A s
i s n o t d i f f i c u l t t o see from (6.6), t h e c o n j u e a t e system can b e
w r i t t e n i n t h e f o ~ mof a q u a t s r n i o n e q u a t i c n (3.11):

"here r=; , + t , i , i s t h e q u a t e r n i o n d e f i n e d by t h e s u p p l e -
mentary f u n c t i o n s .

I n accordance w'th theorem 3.1, one can state t h a t , s i n c e

Equations ( 6 . 8 ) and (6.1) a r e k i n e m a t i c e q u a t i o n s f o r t h e same
a n g u l a r v e i o c i t y m=, t h e f u n c t i o n s V ( f ) and Air) must d i f f e r by
a constant:

~ r h e v eCB i s a c o n s t a n t q u a t e r n i o n . It i s n o t d i - f f i c u l t t o
v e r i f y t h a t (6.14) a c t u a l l y o c c u r s . We c o n s i d e r f o r t h i s
quaternion :

and f i n d i t s d e r i v a t i v e :

which a c t u a l l y v a n i s h e e .

L e t u s now c o n s i d e r t h e Hamiltonian XE (6.61, and r e p r e s e n t / 246

i t i n t h e f o l l o w i n g form k j s e p a r a t i n g terms i n t h e c o n t r o l
-
functions:
*One c a n show t h a t t h e same resL't i s v a l i d f o r any l i n e a r
system o f d i f f e r e n t - . L e q u a t i o n s X = A.i h a v i n g a n a n t i s y n x n e t r i c
m a t r i x A, and t h e .f i o n of t h e optimum c o n t r o l probleni can be
obtained.
We introduce t h e v e c t o r f u n c t i o n p ( t ) i . . , t h e g u a t e r n i on pE),
B
which w e d e f i n e by i t s f o l l o w i n g components:

We w i l l c a l l t h e vector function p E ( t ) t h e conjugate control

vector. One c a n ser: Lilat t h e E a m i l t o n i a n c a n be w r i t t e n i n t h e
f crm :

ar.d t h u s , t h e c o n d i t i o n f a r t h e rnax~mum o f t h e f u n c t l a n a~ on
t h e s e t EE d e t e r m i n e s t h e c o n t r o l car as z f u n c t i o n o f t h e conju-
g a t e vec5or. The form o f t h i s dependence w i l l be d e t e r m i w d by
t h e c o n f i g u r a t i o n o f t h e set B E .

The c o n j u g a t e c o n t r o l v e c t o r i s determined by t2e q u a ~ t i ' i e s

qi and 16 w i t h t h e h e l p of t h e r e l a t i o n s (6.15). It was p r e v i -
o u s l y e s t a b l i s h e d t h a t t h e f u n c t i o n s * i ( t ) can be e x p r e s s e d i n
t e r m s of ).t(t) , s i n c e Equations ( 6 . 8 ) and ( 6 . 1 ) have t h e same
form and c o n t a i n t h e same v e l o c i t y 6 ) ~ . Hence, i t f o l i o w s t h a t
i t i s p o s s i b l e i n p r i n c i p l e t o e x p r e s s pg as a f u n c t i o n o n l y o f
h t ( t ) . A c t u a l l y , one can e a s i l y v - r i f y t h a t t h e e q u a l i t i e s ( 6 . 1 5 )
can be w r i t t e n i n t h e form o f t h e product of q w t e r n i o n s :

pr = vect (Ti 0 '9, (6.17)

i.e., the function p i s t h e v e c t o r p a r t of t h e p r o d u c t -f t h e
E
quaternions i a n d Y .
However, t h e r e l a t i o n be'.~geen t h i . q u a t e r -
ions Y anil A i s g i v e n by t . h e e q u a l i t y ( G , ! ! i ) , from which i t - 1 247
f ~ l i o w st h a t t h e unknown p r o d u c t e q u a l s :

a n d i s d e t e r m i n e d o n l y by t h e q u a ~ e ~ n i oA n.

L e t u s f i n d t h e s c a l a r p a r t o f t.he q u a t e r n i o n Xo'f:

sqal (i\
-
0
-
'P) = sq31t.i 0 CE A) = sqai (I.
0
- 0\ A o cE)= sgal cr (6.19)

( s i n c e t h e norm o f t h e q u t e r n i o n A equals o n e ) .

I t s h o u l d a l s o b e s t a t e d t h a t . , i n view o f t h e h o m c ~ e n e i t y
of t h e c o n j u g a t e s y s t e m , o n e c a n s e l e c t t h e q u a t . e r n i o n 1 s u c h
t h a t i t s norm s l s a e q u a l s o n e . Hence, i t w i l l f o l l o w t h a t t h e
norm o f C a l s o e q u a l s o n e :
E

Fiow, by u s i n g t h e e q u a l i t i e s ( 6 . 1 8 ) and i 6 . 1 9 ? , o n e c a n
f i n d t h e m a g n i t u d e o f t h e v e c t o r p a r t o f t h e p r o d u c t of t h e
q u a t e r n i o n s 1 and A :
- -
vect(ho~)=~o~-s~al~io\P)=~o~~o.\-s~al~r=
- -
= ~ O ( C ~ - S ~ ~ I C ~ ) ~ . ~ = . \ ~ ( V ~ C ~ C E ) ~ . \ = ~ O C ~ O A .

Thus, w e f i n a l l y o b t a i n , a c c o r d i n g t o ( 6 . 1 7 ) , the following basic

r e l a t i o n determining t h e conjugate zontrol vector:
 W i t h t h i s , t h e k i n e m a t i c p r o b l e m o f t h e optimum s p a t i a l t c r n
i s completely s o l v e d . A c t u a l l y , t h e c o n d i t i o n f o r t h e maximum
o f t h e f u n c t i o n ZE ( 6 . 9 ) , w i t h t h e u s e of t h e e x @ r t l s s i o r l ( 6 . 1 6 ) :
determines t h e c o n t r o l wE(t) a s a f l l l l c t i ~ o; f~ t h e c o n j u i z a t e
vector p The v e c t o r p i s d e t e r m i n e d a s a f u n c t i o n of t h e
E' E
p h a s e c o o r d i n a t e a:?d some c o n s t a n t v e c t o r c b y t.he r e l a t i o n
E
(6.20). A f t e r being s u b s t i t u t e d i n t o t h e quat.ernion equation of
motion ( 6 . i ) , the control functions U E ( ~ ) c o ~ l t , r i b u t et o t h e
e q u a t i o n of m o t i o n t h e same p h a s e c o o r d i n a t e s : ~ n d c o n s t a n t c 24s
E' ---
,/

whose s e l e c t i e n must u n i q u e l y s a t i s f y t h e b o u n d a r y ( f i n a l )
c o n d i t i o n s c f t h e motion. Thus, i n p r i n c i p l e ( n o t c o n s i d e r i n g
t!-.z p r o b l e m o f a n a l y t i c s o l v a b i l i t y o f t h e o b t a i n e d e q u a t i o n s ! ,
t h e problem Is completely s o l v e d .

9ne should note t h a t t h e q u a t e r n i o n A i s s double-valued

f u n c t i o ~of t h e r i c i d body p o s i t i o n ( A and -A are identical to
one p o s i t i o n ) . A c c o r d i n g t o E q u a t i o n s ( 6 . 3 ) a n d ( 6 . 1 3 ) , t.he
quaternion Y c 2 n a l s o be d o u b l e - v a l u e d . Hence, i t f o l l o w s t h a t
i t is necessary t o set t h e quaternion p as well as c double-
E' E'
v a l u e d , i . e . , t o a l l o w t h e p o s s i b l e exist en:^ o f t h e two v a l u e s
+cE a n d -c
E ' which s i m u l t a n e o u s l y r s t i s f y t h e s o l u t i s n o f t h e
optimum p r o b l e m . A s w e w i l l s5ow l a t e r , t h i s a s s u m p t i o n i s v e r y
significant .
L e t u s now f i n d t.he s o l u t i o n o f t h e optimum t u r n p r o b l e m
f ~ trh e s e c o n d form o f t h e e q u a t i o n s . The cot1jugat.e s y s t e m of
Eqilations (5.11) f o r t h e supplementary v a r i a b l e s $i for t h i s case
c o i n c i d e s w i t h %he e q u a t i o n s o f moti3n (6.4) and, co~:.-t-quently,
c a n b e w r i t t e n i n t h e form:

whcre Y i s t h e q u a t e r n i o n d e f i n e d a b o v e [ c f . , (6.1311.
 I n a c c o r d a n c e w i t h theorem 3.1, Equat.ions ( 6 . 2 1 ) and ( 6 . 4 )
have t h e same f u n d a m e n t a l s y s t e m of s o l u t i o n s a n d , t h e r e f z r e ,
t h e f u n c t i o n Y ( t ) d i f f e r s from A(:) by a c o n s t a n t q u a t e r n i o n ,
i.e., t h e following r e l a t i o n is valid:

Let u s make c e r t a i n t h a t s u c h a n e q u a l i t y i s a c t u a l l y
s a t i s f i e d . A c c o r d l n ~t o (6.22), w e have t h e f o l l o w i n g e x p r e s s i o n
f o r t h e constant

I t s d e r i v a t i v e o b t s i n e d i n a c c o r d a n c e w i t h E q u a t i o n s ( 6 . 4 ) and
(6.21) a c t u a l l y equals zero:

Let u s c o n s i d e r t h e 3 a m i l t o n i a ~ X I ( 6 . 1 0 ) and r e p r e s e n t i t / 2 4 9
i n t h e form:
XI =
I
"10$1'-( + ?%)*I + h$3 - A3$.?) +
+ 5I Q2 ( h $ 3 -k$0 + $Ik3 +
- A193)
+ 31 Q30**3 - 2 h+ +I*
- kg,).
By a m l o g y t o ( 6 . 1 5 ) , w e i n t r o d u c e t h e v e c t o r f u n c t i o n p , ( t )
A

(i.e., t h e q u a t e r n i n c p ), which i s d e f i n e d by t h e v a r i a b l e s
I
and $1 , such t h a t :

We w i l l a l s o c a l l t h e f u ~ i c t i o np I ( t ) t h e c o n j u g a t e c o n t r o l
v e c t o r . With i t s h e l p , t h e Y a m i l t o n i a n c a r 5 e r e p r e s e n t e d i n
t h e form of a s c a l a r p r o d u c t of t h e c o n t r o l f u n c t i o n and
t h e c o n j u g a t e v e c t o r pI:

S i n c e t h e v e c t o r p i s d e t e r m i n e d a s a f u n c t i o n of 1 and A
I
by t h e r e l a t i o n s ( 6 . 2 3 ) , and t h e q u a t e r n i o n 1 i s e x p r e s s e d
t h r o u g h A by t h e e q u a l i t y ; 6 . 2 2 ) , t h e n i t i s p o s s i b i e t o e x p r e s s
p a s a f u n c t i o n o n l y of t h e v a r i a b l e h ( t ) . A c t u a l l y , i t can
I
b e v e r i f i e d t h a t t h e r e l a t i o n s ( 0 . 2 3 ) c a n b e r e p r e s e n t e d i n form
of a ~ r o d u c tof q u a t e r n i o n s :

By c o n s i d e r i n g t h e o b t a i n e z p r o d u c t , i n a c c o r d a n c e w i t h ( 6 . 2 2 1 ,
we o b t a i n :

'I'~K=.\oc~oA.
-
Let u s f i n d t h e s c a l a r p a r t o f t h e q u a t e r n i o n Y O ~ :

Hence, w e o b t a i n t h e e x p r e s s i o n f o r i t s v e c t o ~ -p a r t i n t h e form: / 250

-
v e c t ( P ~ . \ ) = V o ~ -i S ~ ~ I C ~ - - -
= .\Q(CI - sqal CI)a A = A ocIo.\.

Thus, we f i n a l l y have t h e f o l l o w i n g e x p r e s s i o n f o r t h e c o n j u g a t e
control vector:

The c o n j u g a t e c o n t r o l v e c t o r ( 6 . 2 6 ) i s e x p r e s s e d a s a
f u n c t i o n o n l y o f t h e p h a s e c o o r d i n a t e s and t h r e e c o n s t a n t s . The
c o n d i t i o n s f o r maximum of t h e f u n c t i o n (6.24) determines t h e
c o n t r o l a, a s a f c n c t i o n o f pI a n d , t h e r e f o r e , t h e p h a s e c o c r d i n -
a t e s and c c n s t a n t s . Ry s u b s t i t u t i n g t h i s c o r t r o l i n t o t h e i n i t i a l
e q u a t r o n o f m o t i o n (6.41, we o b t a i n 3 c l o s e d s y s t e m of d i f f e r e n -
t i a l e q u a t i o n s , which, g e n e r a l l y s p e a k i n g , i s a l w a y s s o l v a b l e .
The c o n s t a n t c s t 7 u l d t h e n b e c h o s e n i n o r d e r t o s a t i s f y t h e
I
bout?Gar) c o n d i t i o n s . Thus, a s i n t h e p r e c e d i n g c a s e , t h e f u n c t i o n
pI s h o u l d be set a s a d o u b l e - v a l u e d f u n c t i o n .

The s o l u t . i o n s f o u n d h e r e f o r t h e k i n e m a t i c optimum s p a t i a l
t u r n problem d e t e r m i n e o n l y t h e n e c e s s a r y c o n d i t i o n s f o r o p t i m i -
z a t i o n . T h i s means t h a t a l l o b t a i n e d s c l u t i o n s must b e a n a l y z e d
t o c h o o s e t h e one o f them h a v i n g t h e minimum v a l u e ~f t h e c r i -
terion (turn time).

5 6.3. OPTIMUM CONTROL FOR A BOUNDED MAGNITUDE OF THE ANGULAR

VELOCITY VECTO3

We w i l l c o n s i d e r t h e case o f c o n t r o l when t.he boundary o f

t h e s e t o f p e r m j s s i b l e c o n t r o l s i s a s p h e r e , i . e . , when t h e r e i s
a l i m i t on t h e m a g n i t u d e of t h e ~ n g u l a rv e l o c i t y . We w i l l con-
s i d e r t h e f i r s t form c f t h e k j n e m a t i c e q u a t i o n . I n t h i s c a s e ,
t h e s e t =r ( 6 . 2 ) v i l l be d e t e r m i n e d by t h e c o n d i t i o n :

where oo i s t h e magn:t:~de of t h e maximum a l l o w a b l e m a g n i t u d e o f

t h e a n g u l a r v e l o c i t y . Such i s , e v i d e n t . l y , t h e u n i q u e c o n t r o 1,
f o r which t h e s e t 8, ( 6 . 5 ) i s t h e same f o r t h e second form o f / 251
t h 3 kinematic equation, i . e . ,
 The c o n d i t , i o n f o r t h e maximum ( 6 . 9 ) , w i t h c o n s i d e r a t i o n ~f
t h e r e 2 r e s e n t a t i o n of t h e H a m i l t o n i a n i n t h e form ( 6 . 1 6 ) , r e d u c e s
t o t h e r e q u i r e m e n t t h a t t h e s c a l a r p r o d u c t of t h e c o n t r o l v e c t o r
@E and t h e c o n j u g a t e v e c t o r p b e maximum, i . e . , o b v i o u s l y , t h e
E
f o l l o w i n g e q u a l i t y must be s a t i s f i s d :

where h i s a p r o p o r t i o n a l i t : c o n s t a n t . I n a d d i t i o n , t h e v a l u e
o f @ E must be c h o s e n a s t h e maximum p o s s i b l e , ' . e . :

If i t i s r e q u i r e d t h a t t h e l e n g t h of t h e c o c j u g a t e v e c t o r p be
E
one i . . t h e l e n g t h of cE must :>-is0e o u s l one i n t!!is c a s e ) ,
t h e n t h e two c o n d i t , i o n s w r i t t e n above f o r t.he maximum a r e w r i t t e n
i n t h e form

The c o n j u g a t e c o n t r o l v e c t o r p i s d e t e r m i n e d , i n a c c o r d a n c e
E
w i t h t h e s o l u t i o n o f t h i s problem, by t h e e x p r e s s i o n ( 6 . 2 0 ) a n d ,
t h e r e f o r e , t h e optimum c o n t r o l ( 6 . 2 9 ) w i l l be d e t e r m i n e d by t h e
following r e l a t i o n :

I t s h o u l d be n o t e d t h a t t h e o b t a i n e d e x p r e s s i o n i s t h e
optimum c o n t r o l s p e c i f i e d d i r e c t l y a s a f u n c t i o n of t h e p h a s e
c o o r d i n a t e s , i . e . , w e have t h e s o l u t i o n oT t h e optimum c o n t r o l
s y n t h e s i s problem. The m a g n i t u d e of t h e v e c t o r c which o b v i -
E'
ously equals t h e i n i t i a l value of t h e conjugate c o n t r o l v e c t o r :

must be chosen s u c h t h a t t h e bocndary c o n d i t i ~ n so f t h e motion

(6.3) a r e s a t i s f i e d .
 I n o r d e r t o o b t a i n t h e e x p r e s s i o n f o r c t h r o u g h t h e boundary
E
c o n d i t i o n s o f t h e q u a t e r n i o n A(!) , we s u b s t i t u t e t h e s o l u t i o n
( 6 . 3 0 ) i n t o t h e q u a t e r n i o n e q u a t i o n of m o t i o n ( 6 . 1 ) and h a v e t h e / 2 5 2
following:

The o b t a i n e d e q u a t i o n c o i n c i d e s i n form w i t h t h e k i n e m a t i c
Equation (3.12) f o r a c o n s t a n t a n g u l a r v e l o c i t y v e c t o r e q u a l i n g
O o C ~ . The s o l u t i o n of t h e e q u a t i o n i s t h e f u n c t i o n [ c f . , the
solution (3.18)J:

s a t i s f y i n g t h e i n i t i a l condition. I n order t h a t t.his function

s a t i s f y t h e f i n a l condition, it i s necessary t h a t t h e following
c o n d i t i o n be s a t i s f i e d ( a t t h e time T ) :

We f i n d from t h i s c o n d i t i o n t h a t

S i n c e cg i s a u n i t v e c t o r , t h e n ,

Hence, we o b t a i n t h e f o l l o w i n g e x p r e s s i o n f o r t h e v e c t o r c
E
( e x c s p t f o r t h e c a s e whin ay0T=2n , which c o r r e s p o n d s t o t h e
identity transformation)

CC = -1I- (A,O&,-
I
C O S ~ ~ T ) .
sin 4 T
By s u b s t i t u t t n g t h i s v a l u e i n t o t h e s o l u t i o n ( 6 . 3 1 ) , we f i n d
A (f)=

sin -2I CP
0
f

I
I I I sin -
2
od
= A ~ ( C O S ad-
~ s i n + a , # ~ t g ~ w ~ ~ ) + ~ , ~ .
sin ? q f

i . e . , w e o b t a i n t h e s o l u t i o n o f t h e k i n e m a t i c optimum t u r n / 253
problem f o r t h i s c a s e of l i m i t a t i o n s on t h e c o n t r o l a s a func-
t i o n o f t h e boundary c o n d i t i o n s d i r e c t l y .

It i s of i n t e r e s t t o r e p r e s e n t t h e optimum c o n t r o l f u n c t i o n
( 6 . 3 0 ) w i t h t h e h e l p o f t h e r e l a t i o n s ( 6 . 3 2 ) and ( 6 . 3 3 ) f o r t h i s
case:

The o b t a i n e d r e s u l t d o e s n o t depend on which moment of t i m e t h e

v a r i a b l e q u a t e r n i o n i s t a k e n , s i n c e we h a v e , i n a c c o r d a n c e w i t h
( 6 . 3 1 ) and ( 6 . 3 2 ) :

Hence, we c h t a i n f i n a l l y t h e z x p r e s s i o n f o r optimim c o n t r o l :

ur(t)=
sin
,
ao
5 %T
(&,oA.- 1
cos1q,2).

Thus, t h e optimum t r a j e c t o r y i n t h e c a s e of c o n t r o l u n d e r
r c n s i d e r a t i o n i s a p l a n e t u r n ( 6 . 3 4 ) , which i s performed w i t h
t h e c o n s t a n t maximum p o s s i b l e a n g u l a r v e l o c i t y ( 6 . 3 5 ) The
d i r e c t i o n of t h i s v e l o c i t y i s d e t e r m i n e d by t h e f i n a l allLl
i n i t i a l p o s i t i o n s of t 5 e body. Hence, i t f o l l o w s t h a t a p l a n e
E u l e r t u r n of t h e r i g i d body w i t h t h e maximum a l l c w a b l e v e l o c i t y
i s t h e optinurn t u r n w i t h r e s p e c t t o t i m e f o r t h e c a s e when t h e
c o n t r o l i s a f u n c t i o n o f t h e a n g u l a r v e l o c i t y , which i s l i m i t e d
i n magnitude,

The remark was made i n t h e p r e c e d i n g p a r a g r z p h t h a t t h e

q u a l t i t y cE (and pE) s h o u l d b e t a k e n a s d o u b l e - v e l u e d . de w i l l
e x p l a i n t h e meaning o f t h i s r e q u i r e m e n t . According t o ( 6 . 3 0 ) ,
t h e two s i g n s of c ( i n d e p e n d e n t l y of t h e s i g n of t h e q u a t e r n i o n
E
A ) w i l l c o r r e s p o n d t o t h e d i f f e r e n t s i g n s o f o a~n d , c o n s e q u e n t l y ,
t o t h e d i f f e r e n t d i r e c t i o n s of r o t a t i o n . Both t h e s e s o l u t i o n s
s a t i s f y t h e o p t l m 2 z a t i o n c o n d i t i o n s and g i v e a t u r n r e s p e c t i v e l y
by t h e a n g l e oo(T-lo)= o r oo(T--t0)=2;r-V , where 6 i s t h e t u r n
ar.g l e.
Of t h e s e two s o l u t i o n s , o n l y one s a t i s f i e s t h e c o n d i t i o n / 254
f o r t h e minimum t u r n t i m e ( e x c e p t f o r a t u r n by t h e a n g l e a t ) .
Accordingly, t h e f o l l o w i r g s u f f i c i e n t c o n d i t i o n f o r o p t i m i z a t i o n
must b e s a t i s f i e d f o r t h e minimum t u r n time:

One c a n s e e f u r t h e r t h a t t h e q u a t e r n i o n ~ r o & d e f i n i n g t h e con-

t r o l i s j u s t t h e mismatch q u a t e r n i o n ( f o r t h e two g i v e n p o s i t i o n s
of t h e body) i n t h e q u a t e r n i o n c o n t r o l problems c o n s i d e r e d i n
C h a p t e r 5. Hence, i t f o l l o w s t h a t c o n t r o l i n t h e k i n e m a t i c
problem w i l l b e optimum, i f t h e c o r r e c t i o n v e l o c i t y i s g e n e r a t e d
as :

Q =Q '-
Vi- g
sign (i = I , 2, 31,

where a,,,, i s t h e maximum v a l u e of t h e magnitude of t h e c i > r r e c -

t i o n a n g u l a r v e l o c i t y . The c o n t r o l ( 5 . 6 ) , f o r example, is c l o s e
t o such c o n t r o l .
 I n c o n c l u s i o n , we c o n s i d e r t h e s o l u t t o n of t h i s problem f o r
t h e second form of t h e k i n e m a t i c e q u a t i o n , I t was shown above
t h a t t h e l i m i t a t l o n on t h e a l l o w a b l e c o n t r o l ( 6 . 2 8 ) c o i n c i d e s
with t h e l i m i t a t i o n (6.27). Hence, it f o l l o w s t h a t t h e condi-
t i o n f o r t h e maximum !6.12), w i t h c o n s i d e r a t i o n of t h e H a m i l -
t o n i a n ( 6 . 2 4 ) , i s w r i t t e n i n t h e form of t h e two c o n d i t i o n s :

0, = hp,, 0, =a o ~

analogous t o t h e c o n d i t i o n s f o r t h e f i r s t form of t h e k i n e m a t i c
equation.

L e t u s r e q u i r e t h a t t h e magnitude of t h e v e c t o r pI be e q u x l
t o one. Then b o t h of t h e s e c o n d i t i o n s c a n be w r i t t e n

analogous t o t h e c o n d i t i o n ( 6 . 2 9 ) . By t a k i n g i n t o a c c o u n t t h a t
t h e c o n j u g a t e c o n t r o l v e c t o r pI i s determined b y E x p r e s s 7 0 n
( 6 . 2 6 ) i n a c c o r d a n c e w i t h t h e s o l u t i o n of t h e optimum pl>oblem,
we o b t a i n f o optimum
~ c o n t r o l (6.38) t h e following r e l a t i o n s

Obv;3usly, t h e v e c t o r cI i s determine-! a s t h e i n i t i a l v a l u e o f / 255

t h e conJugate c o n t r o l v e c t o r :

To o b t a i n t h e optimum t r a j e c t o r y of t h e motion, we s u b s t i -
t u t e t h e optimum c o n t r o l ( 6 . 3 9 ) i n t o quaternion equation of
motion ( 6 . 4 ) :

T h i s e q u a t i o n i s t h e k i n e m a t i c e q u a t i o n [of t h e t y p e ( 3 . 1 1 ) ] f o r
a c o n s t a n t a n g u l a r v e l o c i t y v e c t o r @oCf . I t s s o l u t i o n i s t h e
fallowing function:
 The s o l u t i o n ( 6 . 4 0 ) s a t i s f i e s t h e i n i t i a l . c ~ n d i t i o n( 6 , 3 ) .
I n order t h a t t h i s s o l u t i o n pass through t h e l i n a l point A T ,
i t i s n e c e s s a r y t o choose t h e v e c t o r c i n a c o r r e s p o n ~ l i n g
I
manner. By e q u a t i n g t h e r i g h t p a r t of ( 6 . 4 0 ) a t tirce T t o t h e
f i n a l c o n d i t i ~ n! 6 . 3 ) , we o b t a i n
I
-U)
b O e 2
C t
01 -- --A,,
from which we i i n d , by re::eating a l l t h e calculations a n a l o g o u s
t o t h e p r e c e d i n g c a s e , t h a t t h e v e c t o r c, must be d e t e r m i n e d by
t h e r e l a t i o n (woT # 2n):

By s u b s t i t u t i n g t h i s v a l u e i n t o E q u a t i o n ( 6 . 4 0 ) , we o b t a i n
e x a c t l y t h e same t r a j e c t o r y d e f i n e d by r e l a t i o n ( 6 . 3 4 ) as i n
t h e p r e c e d i n g c a s e . It i s n a t u r a l t h a t t h e same r e s u l t s a r e
qbtained, since t h e l i m i t a t i o n (6.27) and, consequently, t h e
optlinum motion must be t h e same, a l t h o u g h t h e y c a n have d i f f e r e n t
formal d e s c r i p t i o n s i n d i f f e r e n t c o o r d i n a t e systzrtis.

Let u? f i n d t h e optimum conGrol f u n c t i o n w , ( f ) . By s u b s t i - / 256

t u t i n g t h e -1alue o f t h e v e c t c r cI from ( 6 . 4 1 ) i n t o t h e e q u a l i t y
( 6 . 3 9 ) , we o b t a i n

* 1
01(1) = I .[~o~~oh,o~-eos~q,~].
sin -2 %f
One can show from t h c s o l u t i o n ( 6 . 4 0 ) t h a t :
Hence, we o b t a i c t h e f i n a l e x p r e s s i o n f o r t h e optinurn c c n t - 0 1

I
or (f)= I [A,~&-ror-~o~~].
sin - woT .
2

O b v i o u s l y , thLb c o n t r o l ( 6 . 4 2 ) d e f i n e s t h e same p l a n e E u l e r t u p n
a s I n t h e preceding case.

The f a c t t h a t t h e mappin,? q u a t e r n i o n > ( 6 . 4 2 ) and or

( 6 . 3 5 ) d e t e r m i n e t h e same a n g u l a r v e l o z i t y v e c t o r c a n a l s o s e r v e
a s p r o o f of this. A c t u a l l y , one cc,n v e r L f y t h a t t h e r e l : i o n :

i s s a t i s f i e d , which r e l a t e s t h e two mappings of o n e v e c t o r . For

t h i s , it i s s u f f i c i e n t t o r e t u r n t o t h e c a l c u l a . t i o n s c a r r i e d out.
abo.dc, from which i t f o l l o w s t h a t :

and, c o n s e q u e n t l y , a c c o r d i n g t o ( 6 . 4 2 ) and ( 6 . 3 5 ) , t h e ? elations

p r e s e n t e d above a r e v a l i d .

5 6.4. OPTlMUM CONTROL WITE LIMITATIONS ON THE COMPONENTS-

OF
THE AN"ULAR VELOCITY VECTOR

The f o l l o w i n g c a s e of c o n t r o l o c c u r s when e a c h component, t h e

p r o j e c t i o n s of t h e a n g u l a r v e l a c i t y v e c t o r , a r e l i m i t e d . T h z r e
i s p r a c t i c a l v a l u e i n h a v i n g a n a n a l y s i s cf t h e c o n t r o l , when
:he l i m i t a t i o n s on t h e p r o j ? c t i o n s on t h e a n p ~ i l a rv e l o c i t y
a r e s p e c i f i e d i n t h e body b a s i s E. The s e e ; 5 r ( 6 . 2 ) w i l l , %
:tor/ --257
d e t e r m i n e d by t h e c o n d i t i o n s

where Qi a r e t h e m a g n i t u d e s o f t h e inaximum a l l ~ : : ~ :z~ ;,-lmpcjnznts

l
of t h e a n g u l a r v e l o c i t y s e c t o r a l o n g t h e body a x e s e , . I n t h e
:pace , t h e set '-E2 w i l l have t h e form o f a p a r a l l e l a p i p e d
whose s i d e s e q u a l Qi.

The condition f o r t h e maximum o f t h e H a m l l t c n i a n ( 6 . 9 ) or

(6.16) with such e r e g i o n 3f a l l o w a b l e c o n t r o l s r e d u c e s t o the
r e q i u r e m e n t of maximizing t h e q u a n t i t y @E - Pt , which occur:. whec
e a c h cur.il;onent o f t h e v e c t s r mg a c q u i r e s t h e m?ximum v a l u e in
~ n - ?d i r e c l i u n o f t h e v e c t 3r p
L'

E:

oEi= Q, sign (p,,) (i = 1, 2, 3).

We den:.ct t h e v e c t o r s r u n n i n g from t h e o r i g i n o f t h e c o o r -
: i n a t e syc t o t h e a p i c e s o f t h e p a r a l 1 - e l a p i p e d E* ( i , e . , a l o n g
jts d i ~ g c . .- . , I by w, ( m = 1, 2. ..-.8) , w i t h o u t s p e c i f y i n g a t
p r e s e n t a n crder for? a s s i g n i n g t h e i n d i c e s . Zach o f t h e s e v e c t o r s
i s : ~ b t a i n e d when a l l t h r e e components of w, t a k ? L h e i r extremum
values (6.42).

We d e n o t e t h e v e c i o r z r u n n i n g from t h e o r i g i n o f t h e c o o r -
d i n a t e r.f?tsrn p e r p e n d i c u l a r t o e a c h edge o f t h e p a r a l l e l a p i p e d
E ~ b ymy,. Gnc c a n s e e t h a t t h e r e a r e t w e l v e such v e c t o r s i n
a l l , i. e . , 1= I. ?, ..., i2 . The v e c t o r s mICr a r e t h e v a l u e s of t h e
v e c t o r w ~ w h e ntv-o o f i t s components t a k e extromt-m v a l u e s , a n d
one v a n i s h e s .

F i n a l l y , w e d e n o t e t h e v e c t o r s yunning from t h e o r i g i n o f
t h e c c 3 r d i r : a t e system p e r p e n u i c u l a r t o e a c h f a c e cf t h e p a r a l -
l e l a p i p e d Z, by .,o The m a g n i t u d e of e a c h o f t h e s e v e c t o r s
e q d a l s Q , . We h a v e s i x s u c h v e c t o r s i n a l l , i - e . , n = 1, 2 ,
. 6. Each of t h e v e c t o r s e q u a l s t h e v e c t o r W E , f o r which two
compone:lts have v a n f s h e d , rSld one t a k e s she extremum v a l u e .
 L e t u s now c o n s i d e r t h e cond:tions (6.44) f o r optimizing
c o n t r o l and d e t e r m i n e which m o t i o n s t h e s e c o n d i t i o n s s x c l u d e .
When t h e v e c t o r p E ( t ) is l o c a t e d anywhere o u t s i d e t h e c o 0 r d i n a t . e / 258
pianes, i.e., f o r p # 0 (i = 1, 2, 3 ) , t h e c o n d i t i o n s (5.h4)
Ei
d e t e r m i n e t h e motion which o c c u r s w i t h one o f t h e maximum a n g u l a r
v e l o c i t y v e c t o r s tar:,. I f t h e v e c t o r p g ( t ) f a l l s on a c o o r d i n a t e
p l -e, i - e . , onn ( o r two) o f i t s components v a n i s h e s , t h e n t h i s
case is singular control.

A n a l y s i s of s i n g u l a r c o n t r o l s h a s shown t h a t i t is n e c e s s a r y
t o p o s t u l a t e t h e f o l l o w i n g h y ~ o t h e s e s (which d o e s n o t f o l l o w
from t h e p r i n c i p l e o f t h e maximum):

1. If any component o f p vanishes, then t % e correspond-

Ei
i n & component of t h e v e l o c i t y eJi c a n t a k e t h r e e v a l u e s : + Q i . 0. -Qi
I n o t h e r words, t h e f u n c t i o n s i g n (psi) i n he e x p r e s s i o n ( 6 . 4 4 )
c a n t a k e t h e v a l u e s + 1 , 0 , -1 a t s e r e .

I n I , P a r a g r a p h 6 . 7 , i t was shown t h a t s u c h a p o s t u l a t e i s
v e r y s i g n i f i c a n t , s i n c e i t p e r m i t s one t o e x t e n d t h e number c f
& l l o w a b l e t r a j e c t o r i e s o f t h e mofion t o t h e n e c e s s a r y number.

E x t e n s i o n o f t h e p o s s i b l e m o t i o n s , which s a t i s f y t h e
necessary conditions of optimization, occurs thanks t o t h i s
p r o p e r t y o f t h e funct.ions (6.44): f i r s t l y , n o t i o n s . ~ t ho n e of
t h e a n g u l a r v e l ~ c i t i e sr~, become p o s s i b l e ; s e c o n d l y , m o t i o n s
w i t h t h e v e l o c i t i e s m,, are p o s s i b l e . The f i r s t c a s e o c c u r s ,
when t h e v e c t o r pE f a l i s on e c o o r d i n a t e p l a n e and c n e o f t h e
component pEi v a n i s h e s . According t o t h e assumed hypoth -sis,
t h e component (*)uc a n e q u a l +Qj, 0, -Qi, i .e . , motion w i t h t h e
a n g u l a r ve1ocit:r d,, i s a d m i s s i b l e . I n t h e second c a s e , t h e
v e c t o r pE f a l l s on t h e c o o r d i n a t e a x i s , i . e . , two o f i t s conpon-
ents become z e r o , -7 c o n n e c t i o n w i t h which m o t i o n w i t h t h e
velocity w,is p o s s i b l e ( i n I , P a r a g r a p h 6 . 7 , i t w i l l be shown
t h a t o t h e r c a s e s o f motion w l t h t h e v e l o c i t y , o are possible).
Thus, w e h a v e m + n + 2 = 26 a d m i s s i b l e a n g u l a r v e l o c i t y v e c t o r s
i n a l l , and r o t s % i o n w i t h e a c h o f t h e n s a t i s f i e s t h e o p t i m i z a t i o n
condition.

We A e n c ' e t h e whole set of t h e s e v e i o c i t i e s by wh ( k =

= 1, 2 , ...,2 6 ) , a n d w i l l c a l l them t h e ~ x t r e n u r na n g u l a r v e l o c i t i e s .
According t o ( 6 . 4 4 ) , a 1 1 t r a j e c t o r i e s o f t h e motlon must c o n s i s t / 2 5 9
o f segments on e a c h o f which r o t a t i o n w i t h t h e s e a q g u l a r v e l o c i -
t i e s o c c u r s . R o t a t i o n o n e a c h se p e n t i s performed w i t h a con-
s t a n t angular v e l o c i t y ; t h e s o l u t i o n of t h e k i n e n a t i c Equation
( 3 . 7 9 ) i s known f o r s ~ c hm o t i o n . Thi: f a c t p e r m i t s one t o
c o m p l e t e l y s o l v e t h i s o p t i n u a k i n e m a t i c t u r n problem.

A s a r e s u l t of s o l v i n g t h e problem, a n s w e r s s k o u l d be g i v e n
f o r s u c h q d e s t i o n s as: o f how many segtzents o f t h e m o t i c n d c e s
,he e r i t i r e t r a j e c t o r y c o n s i s t ; what s e q u e n c e o f r o t a t i o n w i t h t h e
C

extren~uma n g u l a r v e l o c i t i e s i s r e q u i r e ? t o a c c o m p l i s h t h e s p a t i a l
t u r n ; by how much d o e s t h e optimum c o n t r o l f o r t h i s c a s e d i f f e r
f r o n t h e c c n t r ? l (6.37) c o n s i d e r e d i n t h e p r e c e d i n g p a r a g r a p h .

B e f o r e t u r n i n g t o an i n v e s t i g a t i o n o f t h e m o t i o n w i t h t h e
c o n t r o l (6.44 ) , w e w i l l make some g e n e r a l a s s u m p t i o r i s .

2. The r e q u i r e d s p a t i a l t u r n d e t e r m i n e d by t h e boundary
c o n d i t i o n s ( 6 . 3 ) s p e c i f y one i n i t i a l v a l u e of t h e c o n j a g a t e
c o n t r o l v e c t o r pE a s minimum.'

* I t r i l l be shown l a + e r t h a t t h e boundary c o n d i t i o n c a n
d e t e r m i n e n o t one, o u t s e v e r a l d:-fferer. t m o t i o n s .
 3. The v e c t o r pE w i l l be c o n s i d e r e d d o u b l e - v a l u e d ; w e
w i l l assume t h a t t h e boundary c o n d i t i o n s of t h e motiorl ( 6 . 3 )
s p e c i f y two v a l u e s o f t h e v e c t o r pg s l m u l t a n e o u s l y . Tile motion
i s t h e n e x e c u t e d by one o f t h e two v a l u e s o f :ha v e c t o r pE which
is maintained throughout t h e sxbsequent m t i o n . *

Q u h l i t a t i v e i n v e s t i g a t i ~ no f t h e m o t i o n . We r e c a l l t h a t
t h e r e l a t i o n s ( 6 . 4 4 ) , ( 6 . 2 0 ) , and ( 5 . 1 ) , t o g e t h e r w i t h t h e boun-
d a r y c o n d i t i o n s (5.3;! form a c l o s e d s y s t e m o f e q u a t i o n s d e s c r i b -
i n g t h e optimum k i n e m a t i c t u r n . According t o ( 6 . 4 4 ) , a l l m o t i o n
w i l l c o n s i s t o f s e g m e n t s o f r o t a t i o n s w i t h v e l o c i t i e s m . Thus,
t h e a n g u l a r v e l o c i t y of t h e sptimum t u r n w i l l b e a p i e c e - w i s e
c o n s t a n t f u n c t i o n . The d i s c o n t i n u i t i t s of t h z q n g u l a r v e l o c i t y / 260
f u n c t i o n w i l l o c c u r when t h e c o o r d i n a t e p l a n e s a r e i n t t r s e c t e d
by t h e v e c t o r
PE .

L e t u s c c n s i d e r how t h e r e l a t i o n ( 5 . 2 3 ) is s a t i s f i e d fo?
t r a j e c t c r i e s o f s u c h a n a t u r e . We d e n o t e t h e f i n a l v a l u e of
t n e q u a t e r n i o n o f t h e m o t i o n a t t h e k-t h segment by Ah. T h i s
v a l u e w i l l t h e n be t h e i n i t i a l va?ue o f t h e q u a t e r n i o n i n t h e
st
k + 1)- o f t h e m o t i o n , which o c c u r s w i t h t h e v e l o c i t y o n + i .
st
The s o l u t i o n of t h e k i n e m a t i c e q u a t i o r i o f m o t i o n o n t.he ( k + 1)-
segment w i l l have t h e form

where t k t + l t k + l , ti+, i s t h e t i m e v a r i a b l e on t h e ( k + 2)" seg-

ment o f t h e motio:~. The v a l u e Ai(ta+l) w i l l e q u a l Ar+l .
We ha-le, by a n a l c g y t o ( 6 . 4 5 ) , f o r t h e f i r s t s e g n e n t o f
t h e mcticn:
"The h y p o t h e s i s 3 i s n o t a s c l e a r a s t h e h v p o t h e s i s 2;
i t s j u s t i f i c a t i o n w i l l be p r e s e n t e d i n I , ParsL:-ar.5 6.?.
 I
--#I
A1=A,,oe2 ,
where .& i s d e t e r m i n e d by t h e i n i t i a l c o n d i t i o n ( 6 . 3 ) . If t h e
th
motion b e g i n s a t t h e f i r s t segment a n d e , ~ d ss t t h e k- sesrnent.
then we obtain t h e following vaiue f o r the f i n a l quaternion,
according t o (6.45):

:..- o e *
I
-or I
-0 t
A,=A,,oe' 1 8 0 k k,

which c o r r e s p o n d s t o theorem . . 4 .

L e t u s have t h e i n i t i a l v a l u e o f t h e c o n j l r g a t e c o n t r o l
v e c t o r pBO - cE. A t t h e end o f t h e f i r s t segment o f t h e m o t i o n ,
i t w i l l b e d e t e r m i n e d , a c c o r d i n g t o t h e r e l a t i o n ( 6 . 2 0 ) ~by
t h e expression
- - -o,f,
I
- '.
p E , = . i I ~ ~ E ~ A i l*= e O . ~ ( ~ O E ~ O A , , O ~ ~
l t 1

We r e p l a c e t h e q u a n t i t y
-A o o c E o A , b y pEO, t h e n

T h i s f i n a l v a l u e f o r t h e f i r s t segment w i l l be t h e second v a l u e
of the s e c o n d segment of t h e m o t l o n a n d , c o n s e q u e n t l y , we w i l l / 261
have a t t h e end of t h e s e c o n d segment of t h e m o t i o n :

With t h e continuous a p p l s c a t i o n of t.his formula, w e c b t s i n

t h e f o l l o w i n g v a l u e 9f t h e g e c t o r p E a t t h e end ~f t h e m o t i o n :
Hence, i t c a n b e s e e n t h a t t h e r e l a t i o n ( 6 . 2 0 ) a l s o r e m a i n s v a l i d
f o r p i e c e - w i s e - c o n t i n u o u s a n g u l a r v e l o c i t y f u n c t i o n s . The
quantity

i s t h e r e s u l t a n t motion. One c a n see t h a t i t i s u n i q u e l y

d e t e r m i n e d by t h e boundary c o n d i t i o n s ( 6 . 3 ) . We d e n o t e i t i n
t h e f 3 l l o w i n g manner:

I t I
-0 t -
.
-0

A==e2 I;.. oe2 k k - - .I%., 0 A,.

This r e s u l t a n t quaternion a l s o determines t h e r e l a t i o n

between t h e i n i t i a l and f i n a l v a l u e s o f t h e c o n j u g a t e c o n t r o l
vectors :

According t o t h ? k y p o t h e s i s 2 , t h e q h a n t i t y '4.. must d e t e r t n i n e

t h e i n i t i a l v a l u e of t h e v e c t o r pEO. Having c a r r i e d o u t t h e
q u a n t i t a t i v e v a l u e o f t h e problem, we w i l l t u r n t h e i n v e r s e
r o u t e : w e w i l l assume tha?; t h e - - e c t o r pEO i s g i v e n and ~ ~ a l y z e
t h e o b t a i n e d m t i o n and t h e r e s u l t a n t q u a t e r n i o n .

L e t t h e q u a n t i t i e s Qi (6.43) b e e q u a l , i . e . , the r e g i o n of
a l l o w a b l e c o n t r o l s Ern i s a. cube w i t h s i d e s 24, . Without l o s s
o f g e n e l - a l i t y , we c a n s e t Q i = l , t h e n t h e c u b e EE c a n b e circilm-
s c r i b e d by a s p h e r e a f r a d i u s (Figure 6.1). I n accordance
w i t h t h e r e l a t i o n s ( 6 . 4 4 ) and h y p o t h e s i s 1 r e l a t i n g t o t h e f u n c -
t i o n s i g n ( 9 ) , t h e motion w i l ; t a k e p l a c e w i t h a n g u l a r v e l c ? i t i e s / 2 6 3
equaling: a ) t b e h a l f - d i a g o n a l s of t h e cube O m , t h e m a g n i ~ u d e
of whose a n g u l a r v e l o c i t y e q u a l s 1/3 ; b ) t h e h a l f - d i a g o n a l s ~f
t h e s q u a r e s ( t h e f a c e s of t h e c u b e ) , t h e m ~ g n i t u d ec.2 :vhcse
F i g u r e 6.1. F i g u r e 6.2.

a n g u l a r v e l o c i t y e q u a l s \fi; c ) t h e ha1.'-edges o f t h e cube od,,

t h e m a g n i t u d e of whose a n g u l a r v e l o c i t y e q u a l s 1.

We i n t r c d u c e t h e e n u m e r a t 5 7 ~ 1o f t h e v e l o c i t i e s a s i s shown
i n F i g u r e 6 . 1 ( i t i s t r u e , no r all. W e w i l l assume
t h a t t h e i n i t i a l v a l u e of t h e v e c t o r p i s g i v e n and c o n s i d e r
EO
t h e v a r i o u s c a s e s of m o t i o n , which are d e t e r m i n e d by i t s
p o s i t i o n . We w i l l p r e s e n t t h e r e s u l t s o f t h i s a n a l y s i s .

I t i s s e e n t h a t , from F i g u r e 6 . 2 , t h e r e a r e e i g h t r e g i o n s
a. ( m = 1. 2. ..., 8 ) on t h e s p h e r e . If t h e v e c t o r pgo i s l o c a t e d
i n s u c h a r m g i o n , t h e n t h e m o t i o n i s performed w i t h t h e v e l o c i t y
urn a n d , as a r e s u l t o f t h e motio;~, :he v e c t o r p d o e s n o t c h a n g e
E
t h e s i g n o f i t s components. A c t u a l l y , w i t h r o t a t i o n a b o u t a
cone i n any d i r e c t i o n , t h e v e c t o r pE, b e i n g l o c a t e d in t h e
r e g i o n Brn, d o e s n o t r r k e r s e c t o r t o u c h t h e c o o r d i n a t e 9 l a n c , -
The boundary of t h i s m o t i o n w i l l be t h e p o s i t i o n o f t h e - ~ e c t o r
pEO f o r which t h e t a n g e n c y t o t h e c o o r d i n a t e p l a n e ~ c c u r sa r d ,
s i n c e t h e r e g i o n o f a l l o w a b l e c o n t r o l s i s a cube, t h e t a n g e n c y
t o t h r e e p l a n e s o c c u r s s i m u l t a n e o u s l y . Such a boundary w i l l be
c a l l e d t h e s e p a r a t r i x , and we w i l l c o n s i d e r i t a s n o t b e l o n g i n g
t o t h e r e g i o n Jm.

With any p o s i t i o n of t h e v e c t o r pgo i n s i d e t h e r e g i o n %,

o n l y one c a s e o f motion i s e x e c u t e d , when t h e r e s u l t a n t r o t a t i o n
h a s one segment of m o t i o n w i t h t h e v e l o c i t y a m . The c o r r e s p o n d -
i n g q u a t e r n i o n w i l l be d e n o t e d by Am. The r e s u l ~ ~ nq ut a t e r n i o n
I n t h i s c a s e w i l l be d e t e r m i n e d by o n l y one component:

The s e t o f p o i n t s f o r t h e l o c a t i o n o f t h e end of t h e v e c t o r
on t h e s p h e ~ eand i n t h e r e g i o n % c o r r e s p o n d s t o t h e s a n e
PEO
mgtion a s when t h e v e c % o r s pEO and a, c o i n c i d e . Hence, i t
follows t h a t region 3 , i s e q u i v a l e n t t o t h e one p o i n t d e t e r m i n e d
by t h e i n t e r s e c t i o n of t h e v e c t o r a m w i t h t h e s p h e r e . The d i s -
t i n g u i s h i n g f e a t u r e of t h i s p o i n t i s t h a t , when p a s s i n g t h r o u g h
i t , t h e v e c t o r p E ( t ) d o e s n o t change i t s p o s i t i o n a s a r e s u l t of / 2 6 4
t h e m o t i o n d e t e r m i n e d by it ( t h e v e c t o r r e m a i n s c o n s t a n t ) . Such
p o i n t s w i l l be c a l l e d s t a t i o n a r y .

One c a n f u r t h e r s e e t h a t t h e r e a r e s i x r e g i o n s d n ( n = 1, 2 ,
..., 6 ) o n t h e s p h e r e , d i s t i n c t from t h e r e g i o n s J, and s e p a r a t e d
from them by t h e s e p a r a t r i x (we w i l l c o n s i d e r t h e s e p a r a t r i x as
l l s o n o t b e l 7 n g i n g 20 t h e r e g i o n d,). When l o c a t e d i n one o f
t h e reg'.ons - . t h e v e c t o r pg can r e a c h i n d i n t e r s e c t t h e c o o r -
,

d i n a t c p l a n e s ; i t i s i n t h e s e r e g i o n s t h a t motion w i t h d i f f e r e n t
a n g u l a r v e l o c i t i e s a r e p o s s i b l e . Then t h e r c t a t i o n a l v e l o c i t i e s
a r e Urn, and t h e s e q u e n c e o f v e l o c i t y s h i f t s and t h e l e n g t h of
e a c h segment of t h e motion w i t h c o n s t a n t v e l o c i t y a r e d e t e r c l n e d
by t h e p o s i t i o r l of t h e v e c t o r pEO. The t y p e s of m o t i o n s , which
a r i s e when t i l e v e c t o r pEO i s l o c a t e d i n t h e r e g i o n d n , w i l l be
investigated further.
277
 When t h e v e c t o r p i s l o c a t e d on t h e s e p a r a t r i x , s i l l g l l a r
EO
c a s e s o f m o t i o n o c c u r , which a r i s e when t h e v e c t o r p f z i l l s a t
E
t h e p o i n t 91 ( c f . , F i g u r e 6 . 2 . ) . One corn-ponent of t h i s v e c t o r
t h e n v a n i s h e s . I n a c c o r d a n c e w i t h h y p o t h e s i s 1, t h e v a l u e o f
t h e f u n c t i o n s i g n ( 0 ) a t t h e s e p o i n t s c a n e q u a l + I , 0 , -1. I n
t h a s e c a s e s when t h e v a l u e o f s i g n ( 0 ) e q u a l s +I, t h e r o t a t i o n a l
a n g u l a r v e l o c i t i e s w i l l e q u a l one o f t h e v a l u e s w,according t o
( 6 . 4 4 ) , and t h e v e c t o r pg l e a v e s t h e p o i n t W I a s a r e s u l t o f t h e
r o t a t i o r w i t h t h i s v e l o c i t y . However, i f t h e v a l u e o f t h e f u n c -
t i o n s i g n ( 3 ) e q u a l s z e r o , t h e n a segment o f m o t i o n w i t h t h e
v e l o c i t y a,, i s p o s s i b l e . F o r s u c h m o t i o n , t h e v e c t o r pg
( p a s s i n g t h r o u g h t h e p o i n t %t' ) c o i n c i d e s w i t h tl-e v e c t o r wYI a n d ,
c o n s e q u e n t l y , does n o t change i t s p o s i t i o n a s a r e s u l t of t h e
mot i o n .

Thus, we h a v e a n o t h e r c a s e o f a s t a t i o n a r y p o i n t : when t h e
v e c t o r pgo p a s s e s t h r o u g h t h e p o i n t W I and t h e v a l u e of t h e
f u n c t i o n s i g n ( 0 ) = 0 , t h e m o t i o n c o n s i s t s o f one segment o f
r o t a t i o n w i t h t h e v e l o c i t y @a . We d e n o t e t h e c o r r e s p o n d i n g
q u a t e r n i o n by AY, :

T h e r e i s a n o t h e r t y p e of s t a t i o n a r y p o i n t , a t which m o t i o n / 265 -
c a n be e x e c u t e d , which c o n s i s t s of o n e segment. T h i s p o i n t i s
l o c a t e d at t h e c e n t e r c f t h e r e g i o n &*.at t h e p o i n t o f i n t e r -
s e c t i o n of t n e s p h e ~ ew i t h t h e c o o r d i n a t e a x i s . I f t h e v e c t o r
pE p a s s e s t h r o u g h t h i s p o i n t , ttien two of i t s components c a n
v a n i s h . I n a c c o r d a n c e w i t h h y p o t h e s i s 1, t h e c o n t r o l ( 6 . 4 4 )
t h e n p e r m i t s r o t a t i o n w i t h t h e v e l o c i t y ad,,. S I I Cr~o t a t i o n d o e s
n o t change t h e v e c t o r pE, i . e . , i t i s a l s o s t a t i o n a r y . We d e n o t e
t h e quaternion f o r r o t a t i o n with t h e velocity o , by
 Thus, vie have shown t h a t t h e r e a r e p o s i t i o n s of t h e v e c t o r
pEO o n t h e s p h e r e , which d e t e r m i n s m o t i o n w i t h any o f t h e e x t r e -
mum v e l o c i t i e s @ha. When t h e v e c t ~ rpEO i s l o c a t e c : o u t s i d e t h e
point i n t h e regions and on t h e s e p a r a t r i x , ?!ocion I s e x e c u t e d
which h a s s e v e r a l segments o f r o t a t i o n w i t h t h e extremum
v e l o c i t j es.

We w i l l c l a s s i f y t h e g o s s i b l e m o t i o n s , d e p e n d i n g on t h e
number o f segments and on t h e s e q u e n c e o f r o t a t i o n a l a n g u l a r
velocities.

We w i l l f i r s t n o t e t h e cons,tdered c a s e s o f s t a t i o n a r y
r o t a t i o n , wilen t h e r e s u l t a n t motion c o n s i s t s of one segment.

We have t h e f o l l o w i n g t y p e s o f m o t i o n ( t r a j e c t o r i e s ) :

I. h~=An [when t h e v e c t o r pEo i s 1 3 c a t e d i n t h e r e g i o n

s, , c f . , (6.48)];

1 1 [when t h e v e c t o r pEO i s l o c a t e d a t t h e p o i n t s
o f i n t e r s e c t i o n of t h e c o o r d i n a t e a x e s w i t h t h e s p h e r e , c f . ,
!6.50)1;

111. A z = A f l [when t h e v e c t o r pEo i s :ocated a t t h e p o i n t s

01 c f - , (6.4913.

We w i l l now c o n s i d e r t ? e c a s e whol- t h e v e c t c r pEO i s l c c a t e d

i n t h e r e g i o n a n . TO be d e f i n i t e ( w i t h o u t l o s s of g e n e r a l i t y ) ,
we w i l l essume t h a t t h e v e c t o r pEO i s l o c a t e d i n t h e r e g i o n s l 3
i n t h e f i r s : q u a d r a n t , whicn i s formed by t h e p o s i t i v e d i r e c t i o n s
 .
of t h e a x e s e l ~ e ~ ~ e 3 The o b t a i n e d
t r a j e c t o r i e s o f t h e v e c t o r pE s r e
-
p r e s e n t e d i n F i g u r e 6 , 3 . We n o t e / 266
t h a t , when t h e v e c t o r pEO i s
l o c a t e d anywhere i n t h e r e g l o n
d,, e x c e p t t h e c e n t e r of t h i s
r e g i o n , t h e motion o c c u r s only
w i t h t h e v e l o c i t i e s Om . A c t u a l l y ,
even when t h e v e c t o r p f a l l s on
E
F i g u r e 5.3. t h e c o o r d i n a t e p l a n e , when one
of i t s components v a n i s h e s , t h e
v e c t o r pE d o e s n o t r e m a i n i n t h i s p l a n e , b u t i n t e r s e c t s i t .

We w i l l c o n s i d e r t h e p a s s a g e of t h e v e c t o r pE t h r o u g h t h e
p l a n e e2e3 a s a n example ( c f . , F i g u r e 6 . 3 ) . The m o t i o n o c c u r s
i n q u a d r a n t eleze3 w i t h t h e v e l o c i t y o l , as a r e s u l t of which
t h e v e c t o r pE f a l l s on t h e p l a n e e2e3 and t h e component pEl
v a n i s h e s . According t o h y p o t h e s i s 1, t h e f u n c t i o n s i g n ( 0 ) t a k e s
t h e v a l u e s +1o r 0, o r -1, and t h e m o t i o n i n t h e s e c a s e s w i l l
o c c u r w i t h v e l o c i t i e s or, or1 o r 0 2 , r e s p e c t i v e l y . I n a l l c a s e s ,
c h e v e c t o ? p must i n t e r s e c t t h e p l a n e e2e3 . A c c o r d i n g t o
E
F i g u r e 6 , 3 , we have t h e f o l l o w i n g t y p e s of n o t i o n s :

The c a s e , when t h e znd of t h e a r c A; ( i.e., t h e v e c t o r P E T )

f a l l s a t t h e p o i n t pEO, i s p o s s i b l e . We w i l l c a l l s u c h a c a s e
a c l o s e d c y c l e . O S v i o u s l g , a f u r t h e r i n c r e a s e i n t h e number of / 267
scgnants i s p o s s i b l e when t h e t r a j e c t o r y becomes longex. t h a n
one c l o s e d c y c l e and f o r m s a d o u b l e c y c l e , e t c , ( t h r .,umber of
segrilents can i n c r e a s e i n d e f i n i t e l y ) . I n view of t h e f a c t t h a t
any sequence of r o t a t i o n s must c o r r e s p o n d t o t h e g i v e n r o t a t i o n
Ar, a n i n c r e a s e i n t h e number of segments i s p o s s i b l e , i n
p r i n c i p l e , o n l y when e a c h of them i s d e c r e a . ' d , which o c c u r s a s
the vector p a p p r o a c h e s t h e c e n t e r o f t h e r8egion ~ 3 % . I f
EO
the vector p
EO i s l o c a t e d c l o s e t o t h e c e n t e r , t h e n t h e m o t i o n
w i l l c o n s i s t of a n i n f i n i t e l y l a r g e number o f i n f i n i t e s i m a l
r o t a t i o n s , i . e . , we w i l l riave t h e s o - c a l l e d s l i d i n g mode, The
r e s u l t a n t v e l o c i t y of s u c h motion w f l l e q u a l o d 3 .

One c a n s e e t h a t t h e o b t a i n e d c a s e o f s t a t i o n a r y r o t a t i o n
!ti . 5 0 ) i s a l i m i t of i l l f i n i t e number o f c y c l i c m o t i o n s t e n d i n g
toward t h e t r a j e c t o r ; ] c f t h e t y p e 11. Hence, i t a l s o f o l l o w s
t h a t t h e n o t a t i o n ( 6 . 5 0 ) i s i s o l a t e d and c a n n o t be j o i n e d w i t h
o t h e r r o t a t i o n s , % I n c o n t r a s t t o t h e r o t a t i o n s ( 6 . 4 8 ) and ( 6 , 4 9 ) ,

We w i l l show t h a t t h e number o f a r b i t r a r y p a r a m e t e r s f o r
any o f t h e t r a j e c t o r i e s of mot.ion d e t e r m i n e d above does n o t
exceed t h r e e , i . e . , t h e number n e c e s s a r y f o r s p e c i f y i n g a n
arbitrary r i g i d body t u r n . Obviously, tra: e c t o r l e s c o n s i s t i n g
of m segments have m f r e e p a r a m e t e r s ( r o t a t i o n a n g l e s ) . Hence,
it f o l l o w s t h a t t r a j e c t o r i e s c o n s i s t i n g of one, two, and t h r e e
segments of m o t i o n a r e u n i q u e l y d e t e r m i n e d by t h e r e s u l t a n t
q u a t e r n i o n Ax.. N o n e t h e l e s s , t h e c o n d i t i o n s f o r t h e xaximum ( i . e . ,
t h e c a n d i t i o n s o f t h e c o n t i n u o u s m c t i o n of t h e v e c t o r p ) impose
E
l i m i t a t i o n s on t h e magnitudes of t h e r . ( ~ t a ~ i oa n g l e s . One c a n
s e e $ha6 t h e f o l l o w i n g i n e q u a l i t i e s must be s a t i s f i e d 3n t h e
t r a j e c t o r y of t h e t y p e V :

* I n I , p a r a g r a p h 6 . 7 , a n o t h e r h y p o t h e s i s w i l l be c o n s i d e r e d ,
f o r which motion o f t h e t y p e I1 c a n be c o n v e r t e d i n t o o t h e r t y p e s
of m d t i o n s .
n c .
-
Hence, i t f o l l o w s t h a t o n l y t h e t r a j e c t o r y h a v i n g t h e most
p r o l o n g e d m i d d l e segment of t h e motion ;an be optimum. I f t h e
conditions (6.51) a r e s a t i s f i e d , then t h e t r a j e c t o r y of t h e / 268
m o t i o ~o f t h e v e c t o r pE c a n b e a s s o c i a t e d w i t h a n y r e s o l u t i ~ n
of t h e m o t i o n A r i n t o t . h r e e r o t a t i o r a s d i m . We h a v e , f o r t h e
t r a j x t o r y of t y p e V I , t h e l e n g t h ?f t h e second s e g ~ e n te q u a l i n g
t h e l e n g t h of t h e t h i r S , and t h e number of f r e e p a r a m e t e r s a l s o
equals three:

An a n a l o g o u s c a s e o c c u r s f o r f i v ~and more s e g n e n t s of m o t i o n .

\-2 w i l l f i n a l l y c o n s i d e r t h e t y p e s of m o t i o n ' :lich a r i s e

when t h e v e c t o r p
EO i s l o c a t e d on t h e s e p a r a t r i x ( F i g u r e 6 . 4 ) .
Motions zre p o s s i b l 2 i n t A i s c a s e , which c o n s i s t s of one segment,
i . e . , t h e t r a j 3 c c o r i e s of t y p e I and I11 d i s c u s s e C p r e v i o u s l y .
One c a n s e e t k a t , i f t h e v e c t o r pE p a s s e s t h r o u q h t h e p o i n t PI
and t h e f u n c t i o n s i g n ( 0 ) d o e s n o t t a k e I t s z e r o v a l u e , t h e n
t h e t r a j e c t o r y of t h e t y p e I V c a n be e x e c u t e d . However, i
c o n t r a s t . t o t h e p r e c e d i n g c a s e , segmerlts of m o t i o n w i t h s
r o t a t i o n a n g l e exceeding are possiole i n t h i s trajectory.
For t h i s r e a s o n , we d i d n o t impose l i m i t a t i o n s on t h e r o t a t i o n
a n g l e s f o r t r a j e c t o r i e s of t h e t y p e T", With s u b s e q u e n t m o t i o n ,
the vector p
E' u n d e r t h e s e same c o n d i t i o2n n s , c a n e x e c u t e eht. / 26:
t r a j e c t o r y of t y p e 1 wi.th t h e a n g l e 6 2 = T and t h e f o l l o w i n g
t y p e s of t r a j e c t o r y . Howel-er, as w i l l b e shown l a t e r , t r a j e c -
t o r i e s which c o n t a i n more t h a n two segments o f r c i a t i o n w i t h 9
2~
r o t a t i o n a n g l e T, g i v e a r e s u l t . a n t r o t a t i o n a n g l e ;rester +,ban n .
I n t h i s connection, t h e s i g n of t h e i n e q u a l i t y occurs i n t h e
f i r s t relation (6.52).
The f o l l o w i n g t r a j e c t o r y w i l l b e a rew t v q e o f t r a j e c t o r y f o r
t h e c a s e when t h e v e c t o r P m i s found on t i , ? s e p a r a t r i x ( s e e F i g .
; 11';
VIII A e = A t o A u l ,
'. J2
 T h i s t r a j e c t o r y a r i s e s when
t,he v e c t o r p c a l l s a t t h e poinc
E
'81and t h e f u n c t i o n s i g n ( 0 )
t a k e s t h e v a l u e xc- Let t h e
vec:or pEO b e l o c a t e d a t t h e
L

4 saint W1 and t h e r o t a t i o r , ( 6 . 4 9 )
c o r r e s p o n d t o i t . However, i f
it is allowed t h a t with a l z p s e
of scme t i n i c . t.tl.1 filnc t i o n
e,f s i g n ( 0 ) c h a n g e s .::1 v a l u e from
0 t o +1, t h z - I t.hi.s w i l l c o r r e s -
Figure 6 . 4 . pond t o t ? - . ! - ~ J e c t o r y :

The f o l l o w i n g t r a j e c t o ~ yw i l l b e o f t h i s t y p e :

I f t b e f u n c t i o n sign ( 0 ) t a k e s t h c v a l u e -1 a y t e r t n e z e r o
v a l u e , t h e n t h i s c a s e w i l l co:.respond t o t h e t r a j e c t o m y
= AuloA,:, which be?.ongs t c t h e t y p e I X . IIoa ; v e r , i f t h e n o t i o n
begins with a rotat.ton w i i , i ti,< v e l o c i t y , t h e n a n u t i ~ e rt y p e
of >rajectory occurs:

By r e a s o n i n g a n a l o g o u s l y , o n e c a n obt2j.n 1 u r t h e r s u c h t y p , s
of t r a j e c t u r i e s :

XI1 A ~ = A c l o A 2 0 A t , ,
XI11 Ar=i Al oAY1~AroArp;
XIV A z = A , o A Y I ~ A 2 . A r 2 ~ A s .
 I n these three cases, the r o t a t i o n angle (the quaternion
dr) e q u a l s 7 2n
. There cannot be a f u r t h e r i n c r e a s e of t h e seg-
ments of motion, s i n c e t h i s would reduce t o two r o t a t i o n s a t a /270 :.
h
minimum by a n angl-? T , which g i v e s i n t h e sum t h e a n g l e
e x c e e d i ~ gx. I n Xi, Paragraph 6.7, i t i s shown t h a t t h e t r a j e c -
t o r y o f t y p e XI1 w i t h 8 , "2* ~ i s e q u i v a l e n t t o t h e t r a j e c t o r i e s
of t y p e V I I and I X , i . e . ,

Addition of t h e a r c s a f t h e r o t a t i o n s Art and o c c u r s on t h e

t r a j e c t o r y of t h e type X I I , a n d w

I t f o l l o w s from t h i s p r o p e r t y of t h e t r a j e c t o r y of t h e t y p e
111, t h a t t h e t r z j e c t o ~ yof t y p e X I 1 1 i s e q u i v a l e n t t o t h e
f o l l o w i n g ~ r a j e c t o r i e :s

Obviously, we have, i n t h e f i r s t c a s e , t h e t r a j e c t o r y of
t y p e X I , and t h e second c a s e determines a new t y p e of t r a j e c t o r y ,
which we w i l l a l s o d e n o t e by t h e number X I I I :

(keeping i n mind t h a t f o r fh =:F 2n

, t h i s trajectory i s equivalent
t o t h e t r a j e c t g r y of t y p e XI). The f o l l o w i n g t r a j e c t o r y i s
a l s o r e l & t e d t o t h i s sane t y p e of t r a j e c t o r y :

We o b t a i n , by analogy, t h a ? t h e t r a j e c t o r y of t h e t y p e X I V
reduces t o :
s i n c e 6,s- aiways.

Thus, w e have determined f o u r t e e n t y p e s of p o s s i b l e t r a j e c -

t o r i e s of t h e motion. One can s e e t h a t t h e number of f r e e
parameters f o r each t r a j e c t o r y of t h e t y p e V I I I -
X I V does r,ot
exceed t h r e e , i . e . , t h e number of parameters which i s uniquely
( f o r g i v e n r o c a t i o n d i r e c t i o n s ) determined by t h e g i v e n r e s u l t -
a n t r o t a t i o n Ax- Hence, i t f o l l o w s t h a t a l l t h e component r o t a - / 271
t i o n s f o r each t r a j e c t o r y t y p e can be determined by t h e q u a n t i t y
.he

On t h e o t h e r hand, i f t h e r e s u l t a n t r o t a t i o n (6.46) i s
s p e c i f i e d , t h e n s e v e r a l (of t h o s e enumerated) t r a j e c t o r i e s
s a t : s f y i ~ g t h e o p t i m i z a t i o n c o n d i t i o n s can, g e n e r a l l y speaking,
correspond t o i t . T h i s should b e expected, proceeding, f o r
exanpie, from t h e f a c t t h a t t h e o p t i m i z a t i o n c o n d i t i o n s a r e only
necessary c o n d i t l o n s ; t h e c o n d i t i o n s f o r s e l e c t i n g t h e s h o r t e s t
t r a j e c t o r y from ?.I1 t h e g i v e n t r a j e c t o r i e s w i l l be s u f f i c i e n t
conditions f o r c ~ t i m i z a t i o n .

I n o r d e r t~ t u r n t o an a n a l y s i s of t h i s q u e s t i o n , i t i s
necessary t o e s t a b l i s h how many of t h e f o u r t e e n t y p e s of t r a j e c -
t o r i e s enumerated anove can e x i s t f o r a g i v e n r e s u l t a n t q u ? t e r -
nion. L e t t h e q u a t e r n i o n Ax be d e f i n e d by t h e r o t a t i o n a n g l e 8 r
znd t h e v e c t o r b: (1.11); t h 2 l a t t e r s p e c i f i e s a p o i n t on t h e
s p h e r e ( t h e p o i n t of i n t e r s e c t i o n of t h e v e c t o r Sr w i t h t h e
s p h e r e ) . The angle 6 r . a n d two parameters, t h e c o o r d i n a t e s of
t!le v e c t o r f~ , correspond t o t h e t h r e e independent parameters
(we w i l l d e f i n e then: by t h e q u a n t i t i e s T I ~ V and ~ YI, t h e direc-
t i o n c o s i n e s of t h e v e c t o r b). We will c o n s i d e r t h e r e g f o n s on
the sphere, i n whicn t h e ends of t h e v e c t o r s tr w i l l be l o c a t e d
f o r each of t h e f o u r t e e n t y p e s of p o s s i b l e t r a j e c t o r i e s .
28 5
4
 The t r a j e c t o r i e s of t h e t y p e s I , 11, and I11 have one f r e e
parameter, i . e . , t h e r o t a t i o r . a n g l e , which must e q u a l 6 ~ .F o r
t h i s r e a s o n , such t r a j e c t o r i e s have only one p o i n t on t h e s p h e r e
( i . e . , t h e p o i n t i s t h e i r r e g i o n of e x i s t e n c e ) , The t p a j e c t o r i e s
of t h e t y p e I V , V I I I , I X , X I I , which c o n s i s t of two segments, have
two f r e e p a r a m e t e r s and t h u s d e f i n e on t h e s p h e r e a l i n e Qn which
t h e ends o f t h e v e c t o r s A r a r e l o c a t e d . A l l t h e remaining t r a j e c -
t o r i e s have f i n i t e ( i n a r e a ) r e g i o n s on t h e s p h e r e , O f c o u r s e ,
t h e s e r e g i o n s a r e bounded by l i n e s , which w i l , ae some boundary
c a s e s of t h e g i v e n motion. Each such baundary c a s e a r i s e s w i t h
t h e t r a n s i t i o n from one t y p e t o a n o t h e r . The c o n d i t i o n of such
a t r a n s i t i o n i s t h e n a supplementary c o n d i t i o n , which r e d u c e s t h e
nbmber of f r e e paraineters from t h r e e t o two, which c o r r e s p o n d s t o
a l i n e on t h e s p h e r e .

We w i l l show t h a t such boundary c a s e s a c t u a l l y have two - / 272

f r e e p a r a m e t e r s , i . e . , t h e y d e f i n e a l i n e on t h e s p h e r e . Thus,
f o r example, t h e r e g i o n of t h e t r a j e c t o r y of t h e t y p e V i s bounded
on one s i d e by t h e c a s e s when 61 = 8 2 o r 8 2 = f t 3 ( t h e number o f
f r e e p a r a m e t e r s t h e n a c t u a l l y e q u a l s two: t h e s e c a s e s d e t e r m i n e
t h e t r a n s i t i o n boundary between t h e t r a j e c t o r i e s of t h e t y p e V
and t r a j e c t o r i e s of t h e t y p e V I . T h i s r e g i o n i s bounded on t h e
o t h e r s i d e by t h e c a s e s 6 1 = 0 and 6 3 5 0 , i .e., by t h e t r a j e c -
t o r i e s of t h e t y p e I V .

The r e g i o n o f t h e t r a j e c t o r y o f t y p e V I i s bounded by t h e
b o u n d a r i e s c i t e d above w i t h t h e t r a j e c t o r y of t y p e V (which o c c u r s
when t h e c o n d i t i o n s 81 = 0 o r f h = 0 a r e s a t i s f i e d on t h e t r a j e c -
t o r y of t y p e V I ) ; t h i s r e g i o n i s bounded on t h e o t h e r s i d e by
t h e c a s e s & = e3= 6, o r 61 = & = 6s ( t h e s e b o u n d a r i e s s e p a r a t e
t h i s t y p e of t r a j e c t o r y f r o n t h e t r a j e c t o r i e s of t y p e V I I ) ,
 The t r a j e c t o r y of t y p e V I I i s s e p a r a t e d from t h e l a t t e r t y p e
o f t r a j e c t o r i e s Sy t h e boundaries: %2=63=%4-%, +*is %1=%,=63=%4
and %2=%3=*4=%;.

The t r a j e c t o r y o f t y p e X h a s only two b o u n d a r i e s : t h e

first i s determined by t h e c o n d i t i o n & = 0 , when t h e boundary
of t h e t r a j e c t o r y o f t y p e X i s t h e t r a j e c t o r y of t h e t y p e I X ,
and t h e second, by t h e c o n d i t i o n 6J=.0 , when t h e boundary i s
t h e t r a j e c t o r y o f t y p e V I I I . The c a s e 601=3 c o r r e s p o n d s t o
t h e t r a j e c t o r y o f t y p e I , i . e . , one p o i n t a t which b o t h boun-
C a r i e s , t h e t r a j e c t o r i e s of t h e t y p e V I I I and I X , converge
( f o r * p t = O . ).

The t r a j e c t o r y of t y p e X I h a s t h e f o l l o w i n g b o u n d a r i e s :
t h e t r a j e c t o r y of t y p e I V f o r %u1=0 and t h e t r a j e c t o r y of
t y p e V I I I 0;. X I f o r 6 1 = 0 o r % n = O . When t h e a n g l e & r e a c h e s
the value 5 !& , we o b t a i n t h e boundary between t h e t r a j e c t o r i e s
o f t y p e X I and t h e t r a j e c t o r i e s of t y p e X I 1 1 ( i n t h e l a t t e r c a s e ,
one should s e t % 1 = 0 ) . Another t y p e o f boundary e x i s t s f o r
"
a,=- 3 ' when we have, by analogy t o ( 6 . 5 3 ) :

a s a consequence o f which, we o b t a i n a second m o d i f i c a t i o n o f

t h e t r a j e c t o r y of t y p e X I I I :

The t r a j e c t o r i e s o f t y p e X I 1 1 and X I V e i s t only f o r l a r g e / 273

angles and t h e i r e x i s t e n c e r e g i o n s a r e t h e f o l l o w i n g ; t h e
t r a j e c t o r y of t y p e X I 1 1 h a s two f r e e p a r a m e t e r s , i . e , , i t i s t h e
l i n e (boundary) s e p a r a t i n g t h e t r a j e c t o r y of t y p e X I from t h e
t r a j e c t o r y of t y p e X I V . Thus, one can c o n s t r u c t a l l t h e e x i s t e n c e
r e g i o n s f o r e a c h t y p e of t r a j e c t o r y , It i s t h e n determined which
t r a j e c t o r y ( o r which of s e v e r a l t r a j e c t o r i e s ) w i l l accomplish a
given t u r n Ar. I f s t v e r a l t r a j e c t o r i e s e x i s t a t a given p o i n t ,
t h e n i t i s n e c e s s a r y t o s e l e c t t h e s h o r t e s t of them, T h e r e b y ,
t h e a n s w e r s w i l l be given f o r a l l t h e q u e s t i o n s o f t h e f o r m u l a t e d
problem; t h e r o t a t i o n a l a n g u l a r v e l o c i t i e s and t h e i r s e q u e n c e ,
t k 1 9 number o f r o t a t i o n segments w i t h t h e l i m i t i n g a l l o w a b l e
v e l o c i t i e s , and t h e i r t u r n t i m e w i l l be d e t e r m i n e d .

L e t u s make t h e f o l l o w i n g remarks i n c o n c l u s i o n , The

c o n d i t i o n ( 6 . 4 7 ) d e t e r m i n e s t h e f o l l o w i n g two r e l a t i o n s , which
p e r m i t one t o f i n d pEO a n d pET: t h e a n g l e between t h e v e c t o r s
)i, and pEO e q u a l s t h e a n g l e between t h e s e c t o r s 1, and pET, and
t h e d i h e d r a l a n g l e between t h e p l a n e s , which a r e formed by t h e
v e c t o r s Ly and pEo and A. and pET, r e s p e c t i v e l y , e q u a l s 91. On
t h e o t h e r hand, w e have s e e n t h a t , on any optimum t r a j e c t o r y ,
t h e l e n g t h s o f t h e component r o t a t i o n a r c s a r e u n i q u e l y d e t e r -
mined. The p o s i t i o n o f t h e v e c t o r s pEO and pET i s t h e n g i v e n
u n i q u e l y . It would a p p e a r t h a t t h e two c o n d i t i o n s p r e s e n t e d
above a r e s u p e r f l u o u s , o r t h a t t h e number o f c o n d i t i o n s f o r
d e t e r m i n i c g t h e p o s i t i o n of t t e v e c t o r s pEo and pET i s greater
t h a n r e q u i r e d . It i s found t h a t t h e s e two t y p e s o f c o n d i t i o n s
d e t e r m i n i n g t h e p o s i t i o n o f t h e v e c t o r s pEO and pET a r e c o m p a t i b l e
on o p t i m m t r a j e c t o r i e s . Hence, i n p a r t i c u l a r , t h e r e f o l l o w s
the curious f a c t : the equality

o c c u r s on t h e t r a j e c t o r y of t h e c l o s e d c y c l e V I I , which, a c c o r d i n g
t o ( 6 . 4 7 ) i s p o s s i b l e i f and o n l y i f t h e v e c t o r is directed
a l o n g t h e v e c t o r pEo.

One c a n s e e t h a t a f u r t h e r i n c r e a s e o f t h e number o f
t r a j e c t o r y segments l e a d i n g t o a d o u b l e c y c l e i s p o s s i b l e . I n
t h i s c a s e , i f t h e f i r s t l l r o t a t i o n l l o f t h e v e c t o r pE ( e . , t h e
first c y c l e ) i s completed a t t i m e tl, w e h a v e :
 PE (I$= PCI.
and, c o n s e q u e n t l y , t h e v e c t o r 1, ( t i ) i s a l s o d i r e c t e d a l o n g t h e
v e c t o r pEO. S i n c e , f o r a d o u b l e c y c l e , t h e r e s u l t a n t q u a t e r n i o n
c a n b e r e p r e s e n t e d as:

and k(t) and Ax(tl) h a s t h e d i r e c t i o n o f pEO, t h e n Ar!f -!I) aiso

h a s t h e same d i r e c t i o n and i t s r o t a t i o n a n g l e :as w e l l as r(ti) 1
e q u a l s h a l f t h e a n g l e h.

We have a n analogous p a r t i t i o n f o r t r i p l e and q u a d r u p l e

c y c l e s , e t c . The l i m i t of such c y c l e s w i t h t h e i r number i n c r e a s -
i n g t o i n f i n i t y and ezch segment o f motion d e c r e a s i n g t o z e r o
w i l l b e th,? s l i d i n g mode w i t h a l l f o u r v e l o c i t i e s ( i n t h i s c a s e ,
63, **% ), which i s e q u i v a l e n t t o t h e s t a t i o n a r y c a s e of

r o t a t i o n w i t h t h e v e l o c i t y @a.

Small r o t a t i o n s . The c a s e o f small r o t a t i o n s i s of i n t e r e s t

i n t h a t i t p e r m i t s one t o f i n d a n a n a l y t i c s o l u t i o n f o r any t y p e
of t r a j e c t o r y . We w i l l c a r r y o u t t h i s i n v e s t i g a t i o n i n d e t a i l
i n o r d e r t o i l l u s t r a t e t h e example of t h e t e c h n i q u e f o r con-
s t r u c t i n g t h e r e g i o n s f o r each t y p e o f t r a j e c t o r y .

We p r e s e n t t h e e p x r e s s i o n f o r t h e q u a t e r n i o n s , t h e s o l u t i o n s
of t h e k i n e m a t i c e q u a t i o n s w i t h t h e a n g u l a r v e l o c i t y v a l u e s
( 6 . 4 4 ) , i n t h e o r d e r of t h e i r arrangement shown i n F i g u r e 6.1.

For t h e v e l o c i t i e s O m , we have i n accordance w i t h ( 6 . 4 8 )

( w e p?esent o n l y t h e first f o u r s o l u t i o n s ) :
 For t h e v e l o c i t i e s a,,, we o b t a i n t h e s o l u t i o n s i n a c c o r - / 275
dance w i t h ( 6 . 5 0 ) :
'
41
= cos -k e, sin2.vdl
Am = cos -
2 +ad2
q sin 7,

A13
,a + ej sin ,2
= cos 7
4

(we p r e s e n t t h e f i r s t t h r e e s o l u t i o n s ) .

For t h e v e l o c i t i e s alyl, w e p r e s e n t t h e s o l u t i o n s (6.49)

f o r t h e f i r s t t h r e e v a l u e s of t h e v e l o c i t y :
Arl=cosT+--
*<I e*+ e: sin-,*g,2
0
AIC2= cos-
*YZ
+ ----_- sin T* ~, n
2
-el+% '
,

Ay3= cos
*us
+. ---sinz. ec3
-e*+e3

We w i l l assume t h a t t h e a n g l e s 6r of' a l l t h e component q u a t e r n i c n s

a r e s m a l l , s o t h a t t h e i r d e r i v a t i v e s can be n e g l e c t e d . I n t h i s
case, f i r s t l y , t h e angle of t h e r e s u l t a n t r o t a t i o n 6 r w i l l
a l s o be small; secondly, t h e m u l t i p l i c a t i o n of q u a t e r n i o n s of
s m a l l r o t a t i o n s w i l l be performed by a d d i n g t h e i r v e c t o r p a r t s
( c f . , Paragraph 3 . 1 ) .

We w ~ l cl o n s i d e r t h e t r a j e c t o r i e s of t y p e s IV - VII, which
e x i s t when t h e v e c t o r pg i s l o c a t e d i n t h e r e g i o n dm. L e t u s
b e g i n t h e i n v e s t i g a t i o n w i t h t h e t r a j e ~ t o r yof t y p e I V . I n
accordance with (6.54), we o b t a i n , f o r small a n g l e s 6 r ;

f o r t h e small a n g l e &, we a l s o have

By e q u a t i n g t h e q u a t e r n i o n components, we have:

Hence, i t i s seen t h a t t h e r e s u l t a n t q u a t e r n i o n can be / 276

p o s i t i o n e d only on t h e a r c o f t h e sphere formed by i t s i n t e r -
s e c t i o n w i t h t h e p l a n e f o r which = . T h i s should have been
expected, s i n c e t h e sum of t h e two v e c t o r s 0, and 02 can g i v e
t h e r e s u l t a n t v e c t o r found i n t h e p l a n e formed by t h e s e v e c t o r s .
By s o l v i n g t h e o b t a i n e d e q u a l i t i e s , we f i n d t h e magnitudes o f
t h e component r o t a t i o n a n g l e s as a f u n c t i o n of t h e q u z t e r n i o n Ax,:

The c o n d i t i o n t h a t t h e s e a n g l e s be p o s i t i v e d e f i n e s t h e following
segment of t h e a r c :

I t i s on t h i s a r c t h a t t h e end of t h e v e c t o r of t h e q u a t e r n i o n
Az can be p o s i t i o n e d f o r t h i s t y p e of t r a j e c t o r y .

Let u s c o n s i d e r t h e t r a j e c t o r y of t y p e 11. By analogy t o

t h e preceding case, we have t h e e x p r e s s i o n f o r t h e r e s u l t a n t
quaternion:
+-+es +
+-
A r ~ A I ~ A 2 0 1h 3 el~ e2
431
2 0
 from which:

II
vs& = -I
fi
(61 + +*d.
e2

P; We s o l v e t h e e q u a t i o n f o r t h e a n g l e s br:
$
::
#.

9,- n
,fk(v,-rd=

The c o n d i t i o n t h a t t h e r o t a t i o n a n g l e s 6t, be p o s i t i v e and /277

c t h e c o n d i t i o n (6.51) d e f i n e t h e f o l l o w i n g r e g i o n on t h e sphere,
f6:

i n which t h e considered motion c o n s i s t i n g of t h r e e segments

1
f exists:

g
Obviously, each of t h e s e i n e q u a l i t i e s d e f i n e s a boundary, which
i s a n i n t e r s e c t i o ? of t h e s p h e r e w i t h t h e p l a n e s

i.e., a l l t h e b o u n d a r i e s a r e a r c s of a g r e a t c i r c l e ( a l l the
p l a n e s p a s s through t h e c e n t e r of t h e s p h e r e ) , These f i v e
boundaries a r e shown Zn FLgure 6.5, where t h e hemisphere has
been expanded onto t h e p l a n e . The i n e q u a l i t i e s (6.58) i s o l a t e
t h e shaded r e g i o n . P s i s seen from t h e f i g u r e , t h e r e a r e 3nly
f o u r boundaries [chese a r e t h e f i r s t , t h i r d , f o d r t h , and f i f t h
c o n d i t i o n s of (6.58)]. The f i r s t t h r e e c o n d i t i o n s o f (6.58) a r e
i d e n t i c a l t o t h ? conc?itions of (6.57) and we d e f i n e t h e boundary,
w i t h t h e t r a n s i t i o n t o which one of t h e t h r e e motion segments
-.
#.

It':.
&;*
a I v a n i s h e s . Hence, i t f o l l o w s t h a t
g. t h e b o u n d a r i e s o f t h e r e g i o n of
g
+.. t h e t r a j e c t o r y of t y p e V on one
g=
9.
i/.
q
s i d e a r e l i n e s of t h e t y p e (6.571,
.h-.

5 i . e . , l i n e s of t h e t r a j e c t o r y of
& t h e t y p e I V . It s h o u l d be / 278
8
2. expected t h a t t h e o t h e r two
g b o u n d a r i e s [ t h e f o u r t h and f i f t h
&
conditions of (6.58)] w i l l define
a transition t o the trajectories
F i g u r e 6.5. of t y p e V I . The s t r i c t i n e q u a l i -
!g
P.
t i e s of ( 6 . 5 1 ) a r e s a t i s f i e d everywhere i n s i d e t h e r e g i o n of t h e
t r a j e c t o r i e s of t y p e V , and t h e a n g l e s 61.e2 and 6 3 a r e p o s i t i v e .
f
3
i. Let u s t u r n t o t h e t r a j e c t o r i e s of t y p e V I . By s u b s t i t u t i n g
tF. . t h e magnitudes of t h e q u a t e r n i o n s (6.54) i n t o t h e e x p r e s s i o n f o r
*.:.,.
I*

.tl
t h e r e s u l t a n t q u a t e r n i o n , we o b t a i n :
v.

$*
@ Ax=A,oA2*A,e4=1 +4+4+es' 6, + "+.'+" e2+
e- 2 0 2
n
kw + -el-h+h%+ e~-tz+h
f5 2 )/3 2n e4.
F:

B By e q u a t i n g t h e e l e m e n t s f o r t h e u n i t s ei, we o b t a i n :
5.
vl%= -
fl (e, -q - e,+e3,
1

1
~,%=-(e, +%,-+,-a
u3% =
1
c+, +0, +43, +a,). -
and t h e second c o n d i t i o n of (6.52) g i v e s a n o t h e r e q u a l i t y :

t h a n k s t o which, t h e s e e q u a t i o n s can be s o l v e d f o r t h e component

r o t a t i o n angles:
0, = 4 + +Y3,
( 2 ~ 2 YI
 The r e q u i r e m e n t t h a t t h e an-
g l e s 6,, 6 2 , 6 3 H 6 4 , be p o s i t i v e
and t h e c o n d i t i o n s ( 6 . 2 5 ) d e f i n e
t h e following boundaries of t h e
r e g i o n f o r t h e t r a j e c : ,. - 3i1
type V I :
YS>YI,)
2 ~ 2 > ~ ~ + ~ 32 ~* 2 + ~ ~ + ~ 3 > o D
Y ~ + Y ~ GY O
I ~ ~Y W 1 (6.59)
T h i s r e g i o n and t h z bound- / 279
a r i e s ( 6 . 5 9 ) a r e shown i n F i g u r e
6.6. I t i s s e e n t h a t t h e f'irst
group of corlditions ( 6 . 5 9 )
d e f i n e t h e boundaries [ c f . ,
Figure 6 . 6 . (6.58) J with t h e t r a j e c t o r i e s of
t h e t y p e V, w h i l e t h e second
group s p e c i f i e s tile boundary w i t h t r a j e c t o r i e s of t h e same t y p e ,
which c o n s i s t o f a n o t h e r sequence of r o t a t i o n s .
2.

% The l a s t s t a t e m e n t f o l l o w s from t h e f a c t t h a t t r a j e c t o r i e s
,! of t y p e VII a r e e q u i v a l e n t t o t r a j e c t o r i e s of t g p e V I , s i n c e
r'
",
s m a l l r o t a t i o n s c a n b e permuted:
;
$'
. '
Az=Al oA20A30A40A~=A , . A;oA20A30&.
.: and t h i s t r a j e c t o r y c o i n c i d e s w i t h t r a j e c t o r i e s ,f t h e t y p e V I ,
5:'
gri w i t h c o n s i d e r a ' c i c n of t h e f a c t t h a t t h e fir:t r o t a t i o n a n g l e
g,
6
equals .
I
$
@
, L The f i n a l q i c t w e f o r t h e r e g i o n s of t h e t r a j e c t o r i e s of
f
t h e t y p e I V - V I I i s p r e s e n t e d i n F i g u r e 6 . 7 . The f o l l o w i n g
E
lt n o t a t i o n s a r e used i n t h e f i g u r e : each r e g i o n and boundary i s
d e n o t e d by t h e c o r r e s p o n d i n g t r a j e c t o r y ; however, t h e i n d e x of
some q u a t e r n i o n s i s denoted by a b o l d - f a c e d i g i t , T h i s d e n o t e s
t h a t t h e r o t a t i o n angle of the given quaternion i s l e s s than t h e
l i m i t i n g p o s s i b i l i t y ; f o r example, A Z Q ~ i nOd i~c a t e s t h a t e2 c f l 3
and 64 < 0 3 . The b o u n d a r i e s o f t h e r e g i o n s c o r r e s p o n e t o a n
a d d i t i o n a l c o n d i t i o n , which d e c r e a s e s t h e number of f r e e

294
f
 I p a r a m e t e r s t o two, which i s
--
r e f l e c t e d i n t h e n o t a t i o n ; t h u s , [ 280
t h e b o ~ n d a r y& ~ A S ~ c&o r r e s p o n d s
t o t h e t r a j e c t o r y f o r which
fh=%>f)4; i t separates the regions
A , o A 3 o A , o l i t and ~ \ 2 o A , o * 4 . Figure
6 . 7 p e r m i t s i l ' i l s t r a t i o n of a 1 1
the stateaents relatjng t o the
r e g i o n s and b o u n d a r i e s of t h e
: ) t i o n , which were e x p r e s s e d i n
the qualitative investigation.

The r e g i o n s of n o t i o n p r e -
Figure 6.7. sented i n Figure 6.7 correspond
t o t r a j e c t o r i e s obtained f o r
motion of t h e v e c t o r pE i n t h e r e g i o n d 3 , when i t " a v o i d s " t h e
p o i n t e ( c f . , F i g u r e 6 . 2 ) . E x a c t i y t h e same t r a j e n t o r i d s qnd
3
r e g i o n s f o r t h e t r a j e c t o r i e s of t y p e I V - V I I I c o r r e s r .lg t o
t h e p i c t u r e e x i s t i n any r e g i o n d n . I n any z z s e , i t :' 7 ~ l i f f i c i -
e n t t o c o n s t r u c t t h e p a r t i t i o n i n t o r e g i o n s o f motion j u s t i n
t h e zone, f o r example, ~ ~ W L L ? I ~( F Wi~g u r e 6 8 ) o r even i n h a l f
of i t , &3(81% , s i n c e a l l t h e r e m a i n i n g zones of t h e s p h e r e a r e
a d e q u a t e l y a r r a n g e d w i t h r e s p e c t t o t h e t r i h e d r o n and t h e r o t a -
t i o n a l a n g u l a r v e l o c i t i e s a n d , c o n s e q u e n t l y , have t h e same p a r t i -
t i o n i n t o r e g i o n s of motion as i n t h e zone &V1320'a,.

It c a n b e s e e n t h a t t h e r e g i o n s f o r t h e t r a j e c t o r i e s of t h e / 291
C_C

t y p e V and V I and t h e b o u n d a r i e s I'd shown i n F i g u r e 6.7 c o m p l e t e l y

c o v e r j u s t t h i s zone. Thus, motion of t h e t y p e s I V , V , and V I
have r e g i o n s c o m p l e t e l y c o v e r i n g t h e whole s p h e r e , Hence, i t
follows t h a t t h e t r a j e c t o r i e s of type I V , V, V I permit ap
a r b i t r a r y s m a l l r o t a t i o n t o be performed,
 L e t uz f i n d t h e t i m e f o r
p e r f o r m i n g t h e t u r n . The inagni-
t u d e of $he angular. v e l o c i t y om
e q u a l s 1/3 . Hence, i t f o l l o w s
t h a t t h e t i m e o f t h e inotion w i l l
e q u a l t h e sum of a l l t h e a n g l e s
of t h e component m o t i o n s d i v i d e d
by 1/3 . By u s i n g t h e o b t a i n e d
v a l u e s of t h e a n g l e s f o r e a c h
t y p e of t r a j e c t o r i e s I V - V I I ,
F i g u r e 6.8. we o b t a i n :

i . e . , f o r a l l t r a j e c t o r i e s , t h e t i m e of m ~ t i o nf o r t h e same a n g l e
62 i s max'mum and e q u s l s 62 when AX i s l o c a t e d a t t h e p o i n t s d,, ,
and u n i f o r m l y d e c r e a s e s tcr t h e v a l u e er/fi a t t h e p o i n t s %'I and
t o t h e v a l u e 6rivs a t t h e p o i n t s 9,.

L e t u s now c o n s i d e r t h e o t h e r p o s s i b l e t r a j e c t o r i e s . ':he
-
s t a t i o n a r y t r a j e c t o r i e s of t h e t y p e s I ;:I1 c o r r e s p o n d t o
p o i n t s on t h e s p h e r e ( 6 . 4 8 ) - ( 6 . 5 0 ) . It can be s e e n t h a t t h e
t i m e o f motion a l o n g t h e s e t r a j e c t o r i e s c o i n c i d e s w i t h t h e t i m e
of motion a l o n g t h e t r a j e c t o r i e s of t h e t y p e I V - V I I . I n t h i s
s e n s e , a l l t h e s e t r a j e c t o r i e s a r e optimum and t h e m o t i o n i s
p o s s i b l e along both types of t r a j e c t o r i e s .
 1
The t r a j e c t o r y of t h e t y p e VIII an$ t h e t r a j e c t o r i e s of t h e
t y p e s I X and X e q u i v a l e n t t o i t ( i n view of t h e cwnmutativity
of s m a l l r o t a t i o n s ) d e t e r m i r e f o r t h e small a n g l e s 61 and / 282
t h e motion [ic accordance w i t h ( 6 . 5 4 ) and ( 6 . 5 6 ) l :
i

from which we have:

*I=~~%YS>O. blc~=fith(~~--y~~==
=f i & ( v , - Y ~ > O .
Such t - r a j e c t o r i e s e x i s t on t h e f o l l o w i n g c u r v e on t h e s p h e r e :

and t h e time o f motion a l o n g t h e s e t r a j e c t o r i e s w i l l equal: I

I
*, "st
= T1x = Tx =-+ -=e t ~
=
T~lll
v3 v? I +,Y%

Since t h e r e g i o n o f e x i s t e n c e o f such t r a j e c t o r i e s i s j u s ' t h e

boundary of t h e symmetric zones ( c u r v e J 2 W l i n F i g u r e 6.8), i4
can be s e e n t h a t t h e t r a j e c t o r y of t h e t y q e IV i s p o s s i b l e on
t h i s boundary with e x a c t l y t h e s a v e time of mation.

We w i l l c o n s i d e r t h e t r a j e c t o r y of t y p e X I . For s m a l l
a n g l e s , i n accordance w i t h ( 6 . 5 4 ) and ( 6 . 5 6 ) , we have:

from which
1 I
vIh=-=!e,
v 3 -492)+=arl.

v2@z--
1
--Rl +ad + 1
*l

v& -fl 0
I
{*I+ QJ.
 W e solve these equalities f o r / 283
t h e rotation angles
a,= V~&(Y~+Y~-V~)=~~-
a,= flbr(y*-y,)=~.
( ~-
art = P'T+Z 2~ 3.
The r e g i o n of e x i s t e n c e of t h i s
t r a j e c t o r y i s determined by
t h e conditions
&."..
.o. I 3 Yz=vl.
Y2 3YS-
&
4r F i g u r e 6.9.
g.
t This r e g i o n is shown i n F i g u r e 6.9. A s i s seen, It i s t h e
boundary of t h e r e g i o n f o r t h e t r a j e c t o r y of t y p e V ( t h i s i s t h e
b
& r e g i o n AsoAIoA?, o b t a i n e d f o r motion of t h o v e z t o r pg i n t h e
k
X? r e g i o n *!. The time of motion a l o n g t h e t r a 2 e c t o r y of t y p e

i.e., i t c o i n c i d e s w i t h t h e time of n o t i o n a l o r g t h e t r a j e c t o r y
of t y p e V [cf., !6.50)].

The t r a j e c t o r i e s of t y p e s X I 1 - XI-? do n o t e x i s t f o r small

a n g l e s , s i n c e 62s- 3 f o r them.

Thus, a l l t h e r e g i o n s o f e x i s t e n c e f o r t h e optimum t u r n s
f o r small a n g l e s have been found.

L e t us now answer t h e f o l l o w i n g questior!; how many of

t h e s e optimum e q u a t i o n s d i f f e r from t h e c o n t r o l by q u a t e r n i o n
components ( 6 . 3 7 ) ? Let r4 be l o c a t e d i n t h e r e g i o n boundad by
t h e heavy a r c s ( c f . , F i g u r e 6 . 7 ) . It can be seen t h a t t h i s
c a s e corresponds t o t h e $assage of t h e v e c t o r Xr, t h r m g h one
f a c e of t h e cube (6.43). I n this c a s e , t h e magnitudc o f t h e
maximum a n g u l a r v e l o c i t y w i l l e q u a l oJy,=- IIy* f o r t h e c o n t r Q l
(6.37). Hence, it f o l l o k s t h a t t h e t i m e f o r a t u r n by t h e a n g l e
Ox w i t h such c o n t r o l w i l l e q u a l T = y ~ * , i .e., it c o i n c i d e s / 284
with t h e t i m e of t h e optimum t u r n ( 6 . 6 0 ) .

Thus, i n t h e f i r s t approximation f o r small t u r n a r g l e s ,

t h e c o n t r o l (6.37) i s optimum even f o r l i m i t a t i o n s of t h e type
(6.44). If q u a n t i t i e s of second o r d e r are t a k e n i n t o a c c o u n t ,
t h e n t h e considered optimum t u r n s a r e " s h o r t e r , " n e v e r t h e l e s s ,
t h a n r o t a t i o n of t h e t y p e (6.37). I t w i l l be shown below t h a t
t h i s d i f f e r e n c e becomes s i g n i f i c a n t f o r l a r g e a n g l e s .

A r b i t r a r y t u r n a n g l e s . A s was shown i n t h e example of s m a l l

r o t a t i o n a n g l e s , t h e p r o c e s s f o r s o l v i n g t h e problem reduces t o
c o n s t r u c t i n g r e g i o n s of e x i s t e n c e on t h e s p h e r e f o r each t y p e
of t r a j e c t o r y and determini1:g t h e s u f f i c i e n t c o n d i t i o n s f o r
o p t i m i z a t i o n . The c a s e when t h e ccmponent r o t a t i o n s are a r b i -
t r a r y a n g l e s i s s i g n i f i c a n t l y more complicated and cannot be
solved a n a l y t i c a l l y . I n any c a s e , one can s e $ up t.he e q u a t i o n s
expressing the q u a n t i t i e s X u ( i = 0, 1, 2, 3 ) of t h e r e s u l t a n t .
q u a t e r n i o n a s a f u n c t i o n o f t h e component r o t a t i o n a n g l e s f o r
each t y p e of t r a j e c t o r y . However, i n v e r s i o n o f t h e s e e q u a l i t i e s
cannot be performed i n t h e a r b i t r a r y c a s e . To s o l v e t h e problem,
we have used t h e method of c o n s t r u c t i n g t h e r e g i o n boundaries,
Each r e g i o n boundary i s determined s o t h a t t h e f i r s t and l a s t
r o t a t i o n have t h e i r maximum o r minimu- v a l u e ; the number of f ~ e e
p a r a n e t e r s does not exceed two f o r any t y p e of motion. The
s o l u t i o n was c o n s t r u c t e d by computer c a l c u l a t i o n of t h e f o l l o w i n g
problem: one parameter ( t h e a n g l e of one r o t a t i o n ) t a k e s a f i x e d
value; t h e second i s chosen s o as ensure t h e r e q u i r e d a n g l e
of t h e r e s u l t a n t t u r n e x ; t h i s d e f i n e s one p o i n t on t h e s p h e r e .
By v a r y i n g t h e f i r s t parameter ( t h e a n g l e o f t h e f i r s t r o t a t i o n )
from t h e minimum t o t h e maximum value, we o b t a i n a l i n e on t h e
F i g u r e 6.13.

s p h e r e , t h e boundary o f t h e r e g i o n . The c a l c u l a t i o n s were per-

= * % andn.
formed f o r f o u r v a l u e s o f t h e a n g l e VZ, e q u a l i n g 5.
The r e s u l t s of t h e s o l u t i o n are p r e s e n t e d i n Fig---es 6.10 -
6.15 i n a zope on t h e s p h e r e w i t h n o t a t i o n s a n a l o g o u s t o t h o s e
shown i n F i g u r e 5.7. I n a l l t h e f i g u r e s , t h e hemisphere i s
expanded o n t o t h e p l a n e ; t h e dashed l i n e r e p r e s e n t s t h e
b o u n d a r i e s of symmetric zones.

A
The zones f o r t h e c a s e when t h e a n g l e h = are ~ shown i n / 285
F i g u r e 6.10. A s i s s e e n from t h e f i g u r e , t h e l a r g e s t r e g i o n s
f o r s u c h r o t a t i o n e x i s t f o r t h e p o s i t i o n of t h e v e c t o r pgo i n
t h e zone St and, i n p a r t i c u l a r , f o r t r a j e c t o r i e s o f t h e t y p e V .
The b o u n d a r i e s of t h e s e r e g i o n s , which a r e ahowt~ i t ) t h e f i g u r e ,
c o n s i s t o f t h e t r a j e c t o r i e s of t y p e I V on one s i d e and s e p a r a t e
t h i s r e g i o n from t h e t r a j e c t o r i e s o f t y p e V I on t h e o t h e r s i d e .
Tne t r a j e c t o r i e s o f t y p e V I occupy nzrrow r e g i o n s a l o n g t h e c o o r -
d i n a t e a x e s ; t h e i r b o u n d a r i e s w i t h t h e t r a j e c t o r i e s of t h e t y p e
V I I are l o c a t e d c l o s e r t o t h e c e n t e r (e ); t h e c l o s e d c y c l e
3
F i g u r e 6.11.

t r a j e c t o r y i s a l s o shown. A s i s s e e n from t h e f i g u r e , i n s i d e
and on t h e boundary of t h e c y c l e t h e r e e z i s t s i m u l t a n e o u s l y
t h e t r a j e c t o r y of type V I and t h e t r a j e c t c r - g c o n s i s t i n g of a
l a r g e number of segments ( o f t h e t y p e V I I , c l o s e d c y c l e , e t c . ) .
. swever, t h e c a l c u l a t i o n s have shown t h a t t h e f o l l o w i n g hypo-

t h e s i s a p p e a r s v a l i d on t h e whole:

4. T r a j e c t o r i e s c o n s i s t i n g of a s m a l l e r number of segments
.
a r e o p t l~num

-
Some r e g i o n o u t s i d e t h e t r a j e c t o r i e s of t y p e V i s occupied / 287
by t r a j e c t o r i e s o b t a i n e d when t h e v e c t o r pEo i s l o c a t e d on t h e
s e p a r a t r i x , 1-e., t r a j e c t o r i e s of t h e t y p e X and X I , which a r e
bounded by t h e t r a j e c t o r i e s of t h e t y p e VIIS, I X , and IV, I t
c a n b e s e e n t h a t a c o n t i n u o u s t r a n s i t i o n from one t y p e of motion
t r a n o t h e r i s accomplished everywhere.
F i g u r e 6.12.

A d e c r e a s e of t h e r e g i o n s d e t e r m i n e d by t h e motion o f t h e
v e c t o r p i n t h e zone & a n d a b r o a d e n i n g o f t h e r e g i o n s o f t h e
E
s e p a r a t r i x (we n o t e t h a t t h e l a t t e r r e g i o n was c o m p l e t e l y a b s e n t
f o r s m a l l a n g l e s ) o c c u r w i t h i n c r e a s i n g r o t a t i o n a n g l e 61 ( c f , ,
A !h
F i g u r e 6.11 f o r e r = ~ard F i g u r e 6.12 f o r &=-3 ). ~t t h e
same t i m e , t h e r e g i o n s f o r t h e t r a j e c t o r i e s o f t h e t y p e V I begir,
t o d e c r e a s e , and t h e n expand a g a i n . The a n g l e *=- 2st
3 is a
l i m i t i n g a n g l e , f o r which t h e r e g i o n of t h e t r a j e c t o r i e s of t y p e / 288
V approaches t h e p o i n t s *. On t h e o t h e r hand, t r a j e c t o r i e s of
t h e t y p e s XI1 - X I V do n o t e x i s t f o r
2n
.
The t r a j e c t o r i e s f o r t h e a n g l e 6r=n occupy a p e c u l i a r p l a c e .
The r e g i c r i s o b t a i n e d when t h e v e c t o r pEO i s l o c a t e d i n t h e zone
I s a r e p r e s e n t e d i n F i g u r e 6.13, A s i s s e e n i n t h e f i g u r e , a
f u r t h e r e x p a n s i o n o f t h e zones of t h e t r a j e c t o r i e s of t y p e V I and
a r e d u c t i o n o f t h e r e g i o n s of t h e t r a j e c t o r i e s of t y p e V have
t a k e n p l a c e ; t h e zones o f t h e r e g i o n s o f t h e t r a j e c t o r i e s o f
t y p e VII have a l s o a p p e a r e d . The c l o s e d c y c l e t r a j s c t o r y h a s
302
F i g u r e 6.13.

become maximum; however, t h e r e g i o n of t h i s t y p e of t r a j e c t o r y

a s a whole has been q u i t e reduced. On t h e o t h e r hand, t h e
r e g i o n s o f t r a j e c t ~ ~ i oe bs t a i n e d w i t h t h e motion of t h e v e c t o r / 283
pg a l o n g t h e s e p a r a t r i x a r e shown i n F i g u r e 6.14; a s i s s e e n
from t h e f i g u r e , t h e s e r e g i o n s c o v e r t h e whole s p h e r e , The
r e g i o n s o f t h e t r a j e c t o r i e s of t y p e s X I 1 1 and XIV a r e n o t shown
i n t h i s f i g u r e (one of t h e b o u n d a r i e s o f t h e s e t r a j e c t o r i e s i s
shown i n F i g u r e 6.15) s i n c e i t h a s been shown t h a t , f i r s t l y , t h e
zone of t h e i r e x i s t e n c e i s completely covered by t h e r e g i o n of
t h e t r a j e c t o r i e s of t h e t y p e X I , and, s e c o n d l y , t h e t r a j e c t o r i e s
of type X I a r e " s h o r t e r " t h a n t h e t r a j e c t o r i e s of t y p e s X I 1 1 and
XIV, i . e . , h y p o t h e s i s 4 i s v a l i d f o r t h i s t y p e of t r a j e c t o r y
also.

The r e g i o n s of a l l t h e t y p e s of t r a j e c t o r i e s a r e shown i n
F i g u r e 6.15, It i s s e e n from t h i s f i g u r e t h a t , a t t h e c e n t e r of
t h e r e g i o n & , t h e r e e x i s t s i m u l t a n e o u s l y t h e r e g i o n s of t h e
Si
.-
*. --
a F i g u r e 6.14.
..
r

*<~
57.x - F i g u r e 6.15.
t r a j e c t o r i e s of t h e t y p e s V - V I I and V I I I - X I . The c a l c u -
l a t i o n s have shown t h a t t h e t r a j e c t o r i e s of t y p e s V I I I - X I
a r e " s h o r t e r " t h a n t h e r e m a i n i n g t r a j e c t o r i e s everywhere. Thus, / 290
one c a n o b t a i n t h e optimum m o t i o n , which e x e c u t e s any g i v e n t u r n .

L e t u s c o n s i d e r i n c o n c l u s i o n t h e q u e s t i o n a b o u t hcw much
t h e c o n s t r u c t e d optimum c o n t r o l d i f f e r s from t h e c o n t r o l o f t h e
t y p e ( 6 . 3 7 ) by t h e q u a t e r n i o n ccmponents. One c a n s e e t h a t t h e
optimum c o n t r o l e x a c t l y c o i n c i d e s w i t h ( 6 . 3 7 ) a t t h e p o i n t s om
and or, i n a l l c a s e s ; a n a l y s i s h a s shown t h a t , a t t h e r e m a i n i n g
p o i n t s , t h e optimum c o n t r o l i s " s h o r t e r . " The d i f f 2 r e n c e between
t h e t i m e s of t h e t u r n w i t h t h e c o n t r o l ( 6 . 3 7 ) and t h e optimum
t u r n r e a c h e s a maximum ( f o r any f i x e d a n g l e & ) a t t h e p o i n t s d n .
T h i s d i f f e r e n c e a t t b ~ s ep o i n t s , as a f u n c t i o n o f t h e a n g l e or,
i n c r e a s e s w i t h a n i n c r e a s e o f t h i s i n g l e , r e a c h i n g a maximum
f o r 6r,=n. The 9ptimum t u r n , i n th.i s c a s e , i s d e t e r m i n e d by
t h e t r a j e c t o r i e s of t y p e I V , f o r which b o t h component r o t a t i o n s
2r
have t h e a n g l e , i . e . , t h e t o t a l r o t a t i o n a n g l e e q u a l s 240.
However, s i n c e t h e r o t a t i o n o c c u r s w i t h t h e v e l o c i t y
t h e n t h e t u r n time :

5 6.5. DYNAMIC OPTINUM TURN. FORMULATION OF THE PROBLEM

I n t h e problem of dynamic optimum t u r n , i t i s assumed t h a t

t h e magnitude o f t h e e x t e r n a l t o r q u e appl.ied t o t h e body i s t h e
c o n t r o l f u n c t i o n . The e q u a t i o n s of motlon of t h e r i g i d body a r e
t h e dynamic e q u a t i o n s supplemented by t h e k i n e m a t i c e q u a t i o n s .
We w i l l c o n s i d e r r o t a t i o n a l m o t i o n of a r i g i d body r e l a t i v e t o a
f i x e d c o o r d i n a t e s y s t e m I , whose o r i g i n i s l o c a t e d a t t h e c e n t e r
of mass o f t h e body. The E u l e r e q u a t i o n s ( 5 . 5 1 ) w i l l be t h e
dynamic e q u a t i o n s of motion.
 We w i l l assume t h a t t h e c o n t r o l M(M1. Mz,Ma) i s l i m i t e d a n a
b e l o n g s t o some c l o s e d r e g i o n M:

The m a g n i t u d e s of t h e a n g u l a r v e l o c i t y d e t e r m i n e d by E q u a t i o n
( 5 . 5 1 ) s p e c i f y t h e k i n e m a t i c s of t h e r i g i d body m o t i o n d e s c r i b e d
by E q u a t i o n s ( 6 . 1 ) . F o r a c o m p l e t e d e s c r i p t i o n o f t h e m o t l o n ,
i t i s n e c e s s a r y t o s p e c i f y t h e boundary c o n d i t i o n s o f t h e m o t i o n / 291 -
on t h e p o s i t i o n of t h e body:

A (0)= A,, A ( T ) = A,,

where 0 and T a r e t h e t i m e s of t h e b e g i n n i n g and end of t h e

m o t i o n . The boundary c o n d i t i o n s on t h e v e l o c i t y a r e t h e
following :

where coo and OT a r e some d e s i r e d a l l o w a b l e r i n t h e s e n s e t h a t

t h e y can b e a c h i e v e d u n d e r t h e l i m i t a t i o n o f E q u a t i o n ( 6 , 6 1 ) ]
values.

The problem, i n which

h a s p r a c t i c a l v a l u e , i.e., t h e problem o f a body t u r n i n g from

one f i x e d p o s i t i o n t o a n o t h e r .

I n o r d e r t o c o m p l e t e l y c l o s e t h e p~aoblem, i t i s n e c e s s a r y
t o i n t r o d u c e t h e c r i t e r i o n f o r o p t i m i z a t i o n . We w i l l c o n s i d e r
tua f o r m u l a t i o n s of t h e problem: c h e dynamic optimum t u n n w:th
r n s p e c t t o t h e s p e e d of r e s p o n s e and t h e optimum t u r n w i t h
r e s p e c t t o t h e s o - c a l l e d "consumption" v a l u e , I n t h e f i r s t c a s e ,
t h e t i m e T of t h e t u r n i s minimized; i n t h e second c a s e f o r a
f i x e d t u r n t i m e T, t h e f o l l o w i n g q u a n t i t y i s minimized:

where r l , r and r a r e c e r t a i n l e n g t h s , w1,ich h a v e t h e meaning

2' 3
of t h e moment arm of t h e r o c k e t t h r u s t p r o d u c i n g t h e c o r r e s p o n d i n g
t o r q u e Mi. The q u a n t i t y G e q u a l s t h e t o t a l i m p u l s e of 5he r o c k e t
t h r u s t a n d d e t e r m i n e s t h e consumption o f f u e l exp3-lded by t h e
c o n t r o l s y s t e m i n p e r f ~ r m i n gt h e t u r n . I n t h e p a r t i c u l a r c a s e
ri = 1, t h e q u a n t i t y G d e t e r m i n e s t h e t o t a l a n g u l a r i m p u l s e ,
o b v i o u s l y , a f o r m u l a t i o n o f t h e problem when t k i s q u a n t i t y i s
minimized i s p o s s i b l e .

The dynamic e q u a t i o n s ( 5 . 5 1 1 , t o g e t h e r w i t h ( 6 . 1 ) u n d e r
t h e g i v e n i n i t i a l c o n d i t i o n s ( 6 . 6 2 ) , ( 6 , 6 3 ) , and f o r some c o n t r o l
f u n c t i o n s Mi(t), have a unique s o l u ' i o n ( t r a j e c t o r y ) . Obviously,
t h e t r a j e c t o r y d o e s n o t a r r i v e a t t h e f i n a l p o i n t d e t e r m i n e d by -
/ 292
AT and Or [ c f . , ( 6 . 6 2 ) and ( 6 . 6 3 ) ] f o r a l l p o s s i b l e c o n t r o l
f u n c t i o n s . We w i l l assume t h a t t h e r e a l w a y s e x i s t s a s c b s e t of
c o n t r o l f u n c t i o n s M i ( t ) b e l o n g i n g t o t h e s e t ( 6 . 6 1 ) , f o r which
t h e t r a j e c t o r y o f t h e s y s t e m m o t i o n s a t i s f i e s t h e boundary
c o n d i t i o n s ( 6 . 6 2 ) and ( 6 . 6 3 ) . ?he problem c o n s i s t s o f f i n d i n g ,
from a l l t h e ? o s s i b l e a l l o w a b l e c o n t r o l s , t h e one which h a s t h e
minimum vz.lue o f t h e s e l e c t e d c o n t r o l q u a l i t y c r i t e r i o n : t h e
t i m e T o r i m p u l s e G . To f i n d t h e c o n d i t i o n s f o r optimizing t h e
c o n t r o l , we u s e t h e f o r m a l i s m of P o n t r y a g i n ' s p r i n c i p l e of t h e
maximum [ 6 , 411.

I n o r d e r t o h a v e t h e same a p p r o a c h t o t h e s o l u t i o n i n b o t h
f o r m u l a t i o n s of t h e o p t i m i z a t i o n problem, we w i l l r e d u c e t h e c a s e
of o p t i m i z a t i o n w i t h r e s p e c t t o i m p u l s e t o t h e c a s e o f o p t i m i z a -
t i o n w i t h r e s p e c t t o t h e s p e e d of r e s p o n s e by a d d i n g t o t h e
e q u a t i o n s of m o t i o n t h e s u p p l e m e n t a r y e q u a t i o n :
o b t a i n e d from t h e o p t i m i z a t i o n c r i t e r i o n ( 6 . 6 5 ) . O b v i o u s l y , t h e
i n i t i a l v a l u e of G e q u a l s z e r o ; t h e f i n a l v a l u e i s n o t f i x e d
and t h e e q u . i t i o n f o r i t must be m i n i m i z e d ,

We w i l l i n t r o d u c e t h e s u p p l e m e n t a r y f u n c t i o n s 'PI* T 2 and ~ 3 ,

c o r r e s p o n d i n g t o t h e v a r i a b l e s 0 1 . 0 2 and 0 3 , t h e f u n c t i o n s
Qi ( i = 0 , 1, 2 , 3 ) c o r r e s p o n d i n g t o t h e c o o r d i n a t e s 1-i, and
t h e f u n c t i o n g c o r r e s p o n d i n g t o G . With t h e h e l p of t h e s e
f u n c t i o n s , we w i l l c o n s t r u c t t h e H a m i l t o n i a n :

where t h e H a m i l t o n i a n i s d i v i d e d i n t o t h e "dynamic" %A , the

" k i n e m a t i c " %H , and "consumption" z p .

The q u a n t i t y i.=i(o.p, + cog,+ o,pJ i s t h e H a m i l t o n i a n con-

s i d e r e d i n p a r a g r a p h 6 . 2 f o r t h e k i n e m a t i c optimum t u r n problem
( 6 . 6 ) ; i t c a n be e x p r e s s e d i n t e r m s of t h e k i n e m a t i c c o n j u g a t e --
/ 293
c o n t r o l v e c t o r . I n t h e case of c o n t r o l with r e s p e c t t o t h e
s p e e d of r e s p o n s e , t h e l a s t t e r m XP i s m i s s i n g i n t h e r e l a t i o n
(6.67).

The s u p p l e m e n t a r y v a r i a b l e s a r e d e f i n e d by t h e e q u a t i o n s :

We w r i t e t h e s e e q u a t i o n s s e p a r a t e l y f o r t h e d i f f e r e n t g r o u p s of
v a r i a b l e s . We have t h e f o l l o w i n g e q u a t i o n s d e f i n i n g t h e f u n c t i o n s
cph :
where t h e q u a n t i t i e s pk a r c t h e q u a ~ t i t i e si n t r o d u c e d p r e v i o u s l y
( 6 . 1 5 ) ~ t h e p r o j e c t i o n s of t h e c o n j u g z t e v e c t o r p R .
-

S i n c e t h e k i n e m a t i c v a r i a b l e s hi ( i = , Z ? 3 ) appear
o n l y i n t h e k i n e m a t i c H a m i l t o r ~ i a ~aR
l

t h e n t h e e q u a t i o n s f o r t h e v a r i a b l e gi w i l l be t h e E q u a t i o n s
( 6 . 8 ) and ( 6 . 1 3 ) o b t a i n e d p r e v i o u s l y f o r t h e k i n e m a t i c problem.

Finally, f o r t h e case of optimization with respect t o t h e

r o c k e t t h r u s t i m p u l s e , we h a v e t h e l s s t e q u a t i o c f o r t h e v a r i a b l e
g:

This equation i s missiqg i n t h e case of optimization with

laespect t o t h e t u r n time.

The n e c e s s a r y c o n d i t i o n s f o r o p t i m i z i n g t h e c o n t r o l i n v o l v e
t h e f a c t t h a t t h e c o n t r o l Mk ( k = 1, 2, 3 ) must maximize t h e
H a m i l t o n i a n J8 on t h e s e t ( 6 . 6 1 ) o f a l l o w a b l e c o n t r o l , S i n c e
t h e c o n t r o l a p p e a r s o n l y i n t h e f i r 8 s t ("dynamic") and t h i r d / 294
("consumption") t e r m s o f t h e H a m i l t o n l a n , t h e n t h i s c o n d i t i o n
i s w r i t t e n i n t h e form:
 a-{Mk ( t ) , @ k (4, ai $4 (13, g (4)=
( t ) , G (0, q'k ( t ) ,
= max 3 {hlk, mk ( 1 ) s hi
MkeM
8), G (t), cPk (t), 9, ( t ) , g (t))=
= nlax 2'6, ( o k , qk, Mk) $ max iWP (Mk,
g, G).
(6,701
MI=M AI=M

With t h e f o r m u l a t i o n of t h e problem f o r minimum consumption,

when t h e t u r n t i m e T i s f i x e d , i t iz n e c e s s a r y t o supplement t h e s e
c o n d i t i o n s by t h e f o l l o w i q g r e l a t i o n , which must b e s a t i s f i e d a t
t h e f i n a l moment of t i m e T ( c f . , 163, p a r a g r a p h 8 , theorem 6 ) :

The w r i t t e n ? . z l a t i o n s a r e s u f f i c i e n t f d r s o l v i n g ( i n
p r i n c i p l e ) t h e f o r m u l a t e d problem. A c t u a l l y , t h e c o n d i t i o n f o r
t h e maximum ( 6 . 7 0 ) d e t e r m i n e s t h e c o n t r o l a s a f u n c t i o n 3f oh
&,:a t h e s u p p l e m e n t a r y v a r i a b l e s cph and g . Ey f o r m a l l y e x p r e s s -
i n g t h e c o n t r o l fi1n:tic.n Mk, w i t h t h e h e l p of t h e c o n d i t i o n s
f o r t h e maximurn, by (Fk 2 n a g , we o b t a i n a c l o s e d system of
f o u r t e e n d i f f e r e n t i a l e q u a t i o n s of f i r s t o r d e r ( 6 . 5 1 ) , ( 6 . 6 8 ) ,
( 6 . 1 ) , ( 6 . 8 ) ( n o t t a k i n g i n t o a c c o u n t t h e e q u a t i o n s f o r G and
g ) . These d i f f e r e n t i a l e q u a t i o n s i n t u r n d e t e ~ m i n et h ? f u n c t i o n s
a!,, ?wi, W A . $ i , g !i = 0,1 , 2 , 3 ; k = 1 , 2 , 3 ) w i t h t n e n e c e s s a r y number of
boundary c c t n d i t i o n s ( 6 . 6 2 ) , ( 6 . 6 3 ) , and ( 6 . 7 1 ) . The c o n s t a n t s
s p e c i f y i n g t h e f u n c t i o n s ( ~ k a d t)i should be s e l e c t e d c,ucli t h a t
t h e t r a j e c t o r y ( @ A , kt) emerging from t h ? i n i t i a l p o i n t ! 6 . 6 2 ) ,
(6.63) passes through t h e s p e c i f i e d f i n a l p o i n t .

I n t h e c a s e of c p t i m i z i n g c o n t r o l w i t h r e s p e c t t o t h e s p e e d
of r e s p o n s e , t h e c o n t r b o l Mk k = 1, 2 , 3 ) i s d e t e r n l i ~ l e d by t h e
c o n d i t i o n f o r t h e maximum of o n l y t h e dynamic component of t ~ ~ e
Hamiltonian :

max 2% = max 8,(Mk, oa, gk).

ML= M
This itself s p e c i f i e s t h e c o n t r o l a s a function of t h e q u a n t i t i e s
o h and q k , and t h e form of t h i s depenaence i s d e t e r m i n e d by t h e
c o n f i g u r a t i o n of t h e s e t of s9rt.?2ls U .

I n t h e case of optimizing t h e c o n t r o l with r e s p e c t t o t h e / 295

t h r u s t i m p u l s e , we h a v e , i n a c c o r d a n c e w i t h ( 6 . 6 9 ) and ( 5 , 7 1 1 :

3 e - - c e , t h e s e l 2 c L i o n o f t h e optimum c o n t r o l w i l l be found from

t h e c o n t r o l f o r t h e maximum of t h e f u n c t i o n :

and w i l l b e d e t e ~ m 3 n e dby more c o m p l i c a t e d r e l a t i o n s d e p c n d i n g on

t h e t u r n t i y e T ( t h i s w i l l be shown b e l o w ) .

The s y s t e m s of E q u a t i o n s ( 5 . 5 1 ) and ( 6 . 6 8 ) a r e s y s t e m s o f
n o n l i n e a r e q u a t i o n s ; t h u s , even when a d i r e c t r e p r e s e n t a t i o n
of t h e c o n t r o l M k Is o b t a i n e d a s a f u n c t i o n of q b qnd , the
s o l u t i o n of t h e equa';ion c a n n o t b e o b t a i n e d . Moreover, i f one
p r o c e e d s from t h e c o n d i t i o n ( 6 . 7 3 ) , t h e n i t s s o l u t i o n i s p o s s i b l e
o n l y for known ( f o u ~ a )f u n c t i o n s Q and w n . One s h o u l d a l s o t a k e
i n t o a c c o u n t t h a t t h e q u a n t i t i e s pk d e t e r m i n e d a s a f u n c t i o n
of t h e s o l u t i o n of t h e k i n e m a t i c e q u a t i o n , which a l s o c a n n o t be
r e p r e s e n t e d i n t h e g e n e r a l form by e l e m e n t a r y f u n c t i o n s , a p p e a r
i n t h e e q u a t i o n s f o r Vk . Eence, a l l t h e p r i n c i p a l d i f f i c u l t i e s
i n s o l v i n g t h e dynamic optimum t u r n problem a r e c l e a r l y v i s i b l e .

5 6.6. PARTICULAR SOLUTION OF THE DYNAMIC OPTIMUM TURN PROBLEM

FOR A BODY WITH SPHERICAL SYMMETRY A N D A LIMITATION ON
THE MAGNITVDE OF THE CONTROLLING TORQUE
-

T h i s c a s e i s apl,..-.ently u n i q u e l y r e s o l v a b l e a n a l y t j - c a l l y ,
s i n c e , f o r t h e s p h e r i c a l symmetry o f t h e body, we have J1 = J 2 - -
311
J 3 = J and t h e n o n l i n e a r e q u a t i o n s ( 6 . 6 8 ) ( i t i s n e c e s s a r y t o
t a k e i n t o a c c o u n t t h a t t h e c o r i d i t i o n s f o r t h e maximum or a r e
de+,ermined a s f u n c t i c n s a s q r ) become l i n e a r d i f f e r e n t i a l e q u a -
t i o n s . On t h e o t h e r hand, t h e s o l u t i o n e v m n f o r s u c h a p a r t i c u -
l a r c a s e o f r i g i d body summetry i s o f i n t e r e s t i n t h a t i t p e r m i t s
one t o t r a c e t o t h e end a l l t h e c : ~ a r a c t e r i s t i c so f t h e f o r m u l a t e d
problem and w e l l i l l u s t r a t e s t h e r o l e o f t h e s o l u t i o n o b t a i n e d
f o r t h e k i n e m a t i c prcblem.

F o r t h e c a s e under c o n s i d e r a t i o n , t h e Iiamiltonian (6.67) / 296

t a k e s t h e form

(we have s e t rl = r 2 = r3 = 1).

The dynamic E u l e r e q u a t i o n s ( 5 . 5 1 ) and t h e e q u a t i o n s f o r t h e

s u p p l e m e n t a r y f u n c t i o n s qr ( 5 . 6 8 ) r e d u c e t o t h e followin::

One s h o u l d a l s o add h e r e t h e k i n e m a t i c E q u a t i o n s ( 6 . 1 ) f o r t h e
q u a n t i t i e s 1-i and t h e r e l a t i o n s ( 6 . 1 5 ) d e t e r m i n i n g t h e q u a n t i t i e s
p a s f u n c t i o n s of hi and 9i ( i = 0, 1, 2, 3 ) . W e write t h e s e
k
e q u a t i o n s i n q u a t e r n i o n form, by u s i n g r e l a t i o n ( 6 . 2 0 j :

where pgo i s t h e i n i t i a l v a l u e of t h e c o n j u g a t e v e c t o r and p

E
i s t h e quaternion (6.15).
 We f i r s t i n v e s t i g a t e t h e c a s e o f c o n t r o l o p t i m i z a t i o r ? w i t h
r e s p e c t t o t h e speed o f r e s p o n s e and c o n s i d e r t h e c o n d i t i o n f o r
t h e rnaxim:m ( 6 . 7 2 ) f o r t h i s c a s e . We I ~ t r o d u c et h e f o l l o x i n g
v e c t o r s (and quaternions):

W e n o t e t h a t , i f t h e hypzrcornplex h a s i s is s u p e r l - > s e d wi%h t h e

b a s i s E, t h e n H T s t h e c o n t r o l l i n s + . m o u e v e c t o r i n t h e body
a x e s . With c ~ n s i a e r a t i ~ofn (6.77), t h e c o n d i t i o n s f o r +he
maxi nu^ ( 5 - 7 2 ) i s itt ten i n t h e f o r n :
!

max X = msx [q - MI.

mew

-I n t h e p z r t . i c u l a r c a s e when t h e r e g i o n of a l l o w a b l e c o n t r o l s
is a s p h e r e ( t h e t o r q u e i s i i n i t e d i n magnitude!, w e have frcm i
t h e c o n d i t i o n f o r t h e rnaxjaum t h e f i n a l e x p r e s s i o n f ~ t?h e con-
t r o l func:ion

Here p i s a n o r m a l i z i n g c o e f f l c i e n t e q u a l i n g x , where / 297

N
iilax i s t h s maximam v a l u e of t h e t o r q u e m a g n i t u d e . T h i s r e l a t i o n
e x p r e s s e s t h e c o n t r o l as a f u n c t i o n o n l y o f t h e s u p p l e m e n t a r y
v a r i a b l e s 9 : t h e t o r q u e M must b e maximum i n m a g n i t u d e and
d i r e c t e d a l o n g t h e v e c t o r F . The v e c t o r O i s d e t e r m i n e d i n
t u r n by t h e second e q u a t i o n o f ( 6 . 7 5 ) a s a f u n c t i o n o f t h e v e c t o r
p*; t h e v e c t o r pg i s ~ x p r e s s e dby r e l a t i o n ( 6 . 7 6 ) a s a f u n c t i o n I

of ' r . I
II
We r e p r e s e n t t h e ? e l a t i o n s ( 6 . 7 5 ) i n v e c t o r form, by u s i n g
t h e d e s i g n a t i o n s ( 6 . 7 7 ) and c o n s i d e r i n g t h e c o n t r o l d e t z r m i n e d by
t h e condition (6.78) :
The o b t a i n e d e q u a t i o n s , t o g e t h e r w i t h E q u z c i o n s (6.76) g i v e i
c l o s e d s y s t e m o f d i f f e r e n t l a l e q u a t i o n s , which must uniquc :y
s a t i s f y t h e boundary c o n d i t i o n s ( 6 . 6 2 ) and ( 0 . 6 3 ) .

It s h o u l d be n o t e d t h a t w r i t i n g E q u a t i o n s ( 6 . 7 0 ) i n ',::tor
fsr9 Is a f o r n a l r e p r e s e n t a t i o n o f t h e e q u a l i t i e s ( 6 . 7 5 ! , thus,
t h e d e r i v a t i v e s O E and ;are l o c a l d e r i v a t i v e s h e r e ( t a k e n
w i t h o u t t h e c o n s c d e r a t i o n o f t h e m c t i o n o f t h e b a s i s E).

Let u s d i s c u s s t h e c h o i c e of t h e a r b i t r a r y c o n s t a n t s f o r
t h e o b t a i n e d s y s t e c o f equzitions and t h e i r r e l a t i o n co t h e
boundary c o n d i t i o n s o f t h e problem. S i n c e t h e v e c t o r e q u a l i t i e s
( 6 . 7 9 ) are a f o r m a l r e c o r d of s c a l a r r e l a t i o n s , t 5 e n t h e
d i f f e r e n t i a l r e q l a t i o n s (6.79) can b e f o r m a l l y i n t e g r a t e d :

where ma and a r e t h e i i - t i t i a i v a l u e s of t h e q u a n t i t i e s oE and

0

It f o l l o w s from t h e o b % s i n e d descri!.';ion that the f i r s t

c o n d i t i o n of ( 6 . 6 3 ) i s s a t i s f i e d w i t h t h e c h o i c e of t h e i n i t i a l
v a l u e of t h e a n g u l a r v e l o c i t y e q u a l i n g t h e c o r r e s p o n d i n g boundary
c o n d i t i o n . One c a n imagine t h a t t h e s e c o n d c o n d i t i o n o f ( 6 . 6 7 ;
c a n be s a t i s f i e d by a c o r r e s p o n d i n g :hoice o f t h e i n i t i a l v e c t o r -- / 348
9. The f i r s t ( i n i t f a l ) c o n d i t i o n of (6.62! i s a l s o e x p r e s s e d
a u t o m a t i c a l l y by s p e c i f i c a t i o n o f t h e c o r r e s p o n d i n g i n i t i a l
q u a t e r n i o n ;lo i n t h e s o l u t i o n o f t h e k i n e m a t i c e q u a t i o n . The
f i n a l value of the quaternion .it m u s t s a t i s f y t h e cc t r t s p u n d i n g
selection of the i n i t i a l vector p
EO ( 6 . 7 6 ) .

Thus, t h e obtained c l o s e d system o f equations m u s t ha.^ a

s o l u t i o n d e t e r m i n e 3 by t l i n e const-ar: s ( t h r e e c o n s t a n t s f o r each
o f t h e b r c t ~ r sO r 9 a n d p E ) , w h i c h c o m p l e t e l y c o n f o r m s w i t h
t h e b o u n d a r y c o n d i t i o n s o f t h e p?c?lom.

L e t u s t u r n t o a n a 1 : a l y s i s o f the o b t a i n e d s y s t e m . The
vector p i s o b t a i n e d as a r e s u l t d f s o l v i n g t h e k i n e m a t i c
E
equations. By d i f f e r e n t i a t i n g t h e s e c o n d r k e l a t i o n o f ( 6 . 7 6 ) . wc
o b t a i n t h e following d i f f e r e n t i a l e q u a t i o n d e s c r i b i n g t h e motion
of t h i s vector:

It can be s e e n t h a t Equation- ( 6 . 7 9 ) a n d (6-8;) e x a c t l y f o r m s

c l o s e d s y s t e m o f t h r e e v e c t o r d i f f e r e n t i a l e q u a t i o n s of f i r s t
o r d e r ( i - e . , a system of nine s c a l a r e q u a t i o n s ) . However, t h e s e
equations are nonlinear; they c o n t a i n t h e t h r e e v a r i a b l e s ' " ~ 9 B
and p a n d e v e n t h e r e d u c t i o n of t h e s e e q u a t i o n s t o o n e v a r i a b l e
E
represents serious difficulties,

With c o n s i d e r a t i o n o f t h e f a c t t h a t t h e v e c t o r e q u a l i t i e s
( 6 . 7 9 ) are a f o r m a l d e s c r i p t i o n o f s c a l a r r e l a t i o n s , w e d i f f e r -
e n t i a t e t h e second e q u a t i o n o f t h i s system:

We s u b s k i t a t e t h e v a l u e o f t h e d e r i v a t i v e ( 6 . 8 1 ) i n t o t h e
o b t a i n e d e q u a l i t y , r e p l a c i n g t h ? f u n c t i o n pE by q . We w i l l have
a s a r e s u l t t h e system of equations corresponding t o t h e system
( 6 . 7 9 ) , ( 6 . 8 1 ) , a n d c o n t a i n i n g o n l y two v a r i a b l e s :
 The g e n e r a l s o l u t i o n of t h e o b t a i n e d system c a n n o t be
i n v e s t i g a t e d ; we w i l l t h u s i n d i c a t e one p a r t i c u l a r s o l u t i c n ,
L e t t h e vector b e p a r a l l e l t o t h e v e c t o r q, i - e . , p a r a l l e l t o
t h e v e c t o r p i ; t h i s means t h a t t h e d e r i v a t i v e of the v e c t o r F
h a s t h e same d i r e c t i c n a s t h e v e c t o r g . P r o c e e d i n g from t h e
e q u a l i t y ( 6 . 8 1 ) , we o b t a i n t h a t t h e f o l l o w i n g e q u a l i t y must
occur :

and t h e v e c t o r toE must have a c o n s t a n t d i r e c t i o n . We o b t a i n

from t h ? second e q u a t i o n o f ( 6 . 8 0 ) :

where a i s a c o n s t a n t v e c t o r . S i n c e t h e v e c t o r must have t h e

same d i r ~ c t i o na s t h e v e c t o r W E , i - e . , a s t h e v e c t o r p
EO '
t h e n t h e v e c t o r a must b e c o l l i n e a r w i t h t h e v e c t o r pgO. Thus,
t h e f u n c t i o n ~ ( f ) i s l i n e a r f o r t h e c a s e under c o n s i d e r a t i o n
and c a n change s i g n o n l y o n c e . I n a c c o r d a n c e w i t h t h i s , t h e
c o n t r o l l i n g t o r q u e , a c c o r d i n g t o ( 6 . 7 8 ) , i s c o ~ s t a n ti n d i r e c t i o n ,
maximum i n m a g n i t u d e , and can change s i g n once d u r i n g t h e whole
t r a j e c t o r y of t h e m o t i o n .

The u n i t v e c t o r o f t h e f u n c t i o n ( ~ ( 1 ) c o i ~ c i d e sw i t h t h e
v e c t o r pEO; by u s i n g t h e f i r s t s o l u t i o o of ( 6 . 8 0 ) , we o b t a i n
for the angular velocity function:

*f f o r O<t<r,],
-)_(2i,-t) f o r T , < ~ < T
where T i s t h e t i m e i n t e r v a l of t h e m o t i o n , and r~ i s t h e t i m e a t
which t h e s i g n o f t h e f u n c t i o n ( ~ ( ~ c1 h a n g e s . I t i s s e e n from
t h e o b t a i n e d e q u a l i t y t h a t oo , t h e i n i t i a l v a l u e of t h e a n g u l a r
v e l o c i t y , c a n n o t be a r b i t r a r y , b u t must h a v e t h e d i r e c t i o n of
t h e v e c t o r pEO; t h e f i n a l v a l u e o, i s d e t e r m i n e d by t h i s d i r e c -
t i o n i ~e .x a z t l y t h e same way. Hence, t h e c o n c l u s i o n f o l l o w s :
t h e p a r t i c u l a r s o l u t i o n of t h e system (6.82) under c o n s i d e r a t i o n
i s v a l i d o n l y f o r c e r t a i n boundary c o n d i t . i o n s ( 6 . 6 3 ) , namely
t h o s e when t h e i n i t i 2 1 and f i n a l v e l o c i t y v e c t o r s have t h e
d i r e c t i o n of t h e v e c t o r pEO. A c c o r d i n g l y , t h e number o f s h e s e / 300
c o n d i t i o n s ( 6 . 6 3 ) d e c r e a s e s from s i x t o two ( i . e . , o n l y t h e
q u a n t i t i e s wo and a r e s p e c i f i e d ) . i l o n e t h e l e s s , i t s h o u l d be
n o t e d t h a t s u c h a p a r t i c u l a r s o l u t i o n h a s p r a c t i c a l v a l u e , and
t h e boundary c o n d i t i o n s ( 6 . 6 4 ) a r e j u s t s u c h a c a s e , Because o f
t h i s , t h e n u m b e ~of boundary c o n d i t i o n s ( 6 . 6 2 ) and ( 6 . 6 3 )
d e c r e a s e s from n i n e t o f i v e : t h r e e c o n d i t i o n s ( 6 . 6 2 ) on t h e
a n g l e and d i r e c t i o n of r o t a t i o n and two c o n d i t i o n s ( 6 . 6 3 ) on t h e
magnitude of t h e i n i t i a l and f i n a l v e l c c i t i e s . The number o f
c o n s t a n t s i n t h e o b t a i n e d s o l u t i o n a l s o ?qua1 f i v e : t h r e e
c o n s t a n t s d e f i n e pEO and a ( i - e . , t h e d i . , e c t i o n o f t h e r o t a t i o n
v e c t o r and t h e t i m ? a t which t h e s i g n of t h e v e l o c i t y c h a n g e s ) ,
anc! c n e c o n s t a n t e a c h f o r t h e q u a n t i t i e s and O r ,

The n a t u r e o f t h e v a r i a t i o n o f O E ( ~ ) i s p r e s e n t e d i n F i g u r e
6 The v e l o c i t y i n c r e a s e o c c u r s w i t h maximum a c c e l e r a t i o n ,
t h e t u r n t i m e T I s n o t f i x e d h e r e , i t must be d e t e r m i n e d by
t h e m a n g i t u d e o f t h e t u r n a n g l e . "he s o l u t i o n o f t h e k i n e m a t i c
e q u a t i o n s f o r c h e c a s e o f t h e v e l o c i-ty v e c t o r c o n s t a q t i n d i r e c -
t i o n i s known. We have, f o r o,(t) i n t h e form ( 6 . 8 4 )

t
I p
= for O<tgq, I
 The t o t a l r o t a t i o n a n g l e o v e r t h e t i m e T i s fcund a s :

i t must b s d e t e r m i n e d by t h e q u a t e r n i o n X O ~ A , (6.46) with t h e

h e l p , f o r example, of t h e r e l a t i o n

26 == arccos [sqal (A,, 0 AJ].

The r c t a t i o n d i r e c t i o n , i . e . , t h e v e c t o r pEo, i s d e t e r m i n e d by / 301
t h e v e c t o r p a r t of ( 6 . 8 5 ) :

p,=
-
~ e c(A,
t
ib
A,)/sin T.
0
(6.87

Obviously, t h e p a r t i c u l a r c a s e under c o n s i d e r a t i o n d e s c r i b e s
a p l a n e t u r n o f t h e body from t h e i n i t i a l p o s i t i o n t o t h e f i n a l .
I t i s of i n t e r e s t t o compare t h e obtainec? s o l u t i o n ( 6 . 8 4 ) , ( 6 . 8 7 )
w i t h t h e s o l u t i o n o f ( 6 . 3 5 ) of t h e k i n e m a t i c p r o b l e m . It i s
s e e n from t h e comparison t h a t j u s t t h i s p a r t i c u l a r c a s e o f
c o n t r o l g i v e s a p l a n e t u r n d e t e r m i n e d by t h e q u a t e r n i o n horsAr

The q u a n t i t i e s T and TI a r e d e t e r m i n e d from t h e s o l u t i o n s

( 6 . 8 4 ) and ( 6 . 8 6 ) :

The c o n d i t i o n s ( 6 . 8 8 ) l e a d t o a n a l g e b r a i c q u a d r a t i c e q u a t i o n
relative t o o r T , o n l y one of t h e two r o o t s o f t h i s e q u a t i o n
h a s meaning. N o n e t h e l e s s , t h e two s i g n s of t h e s o l u t i o n s ( 6 . 8 6 )
and ( 6 . 8 1 ) c o r r e s p o n d t o d i f f e r e n t v a l u e s of T and T I . F o r t h e
upper s i g n , w e have
The lower s i g n of r e l a t i o n s ( 6 . 8 6 ) c o r r e s p o n d t o t h e v a l u e s :

T h e s e two s o l u t i o n s r e f l e c t t h a two p a t h s l e a d i n g f r o m t h e
p o i n t wo t o t h e p o i n t (*)T ( c f . , F i g u r e 6 . 1 6 ) . Orlly one s o l u t i o n
( 6 . 8 9 ) i s p o s s i b l e when t h e i n i t i a l and f i n a l a n g u l a r v e l o c i t i e s / 3 0 2
a r e z e r o . O b v i o u s l y , t h i s c a s e c o r r e s p o n d s t o t h e m o t i o n when
t h e t o r q u e a c t s toward one s i d e i n t h e d i r e c t i o n o f t h e r e q u i r e d
t u r n f o r h a l f t h e t i m e of t h e m o t i o n , and i n r e v e r s e f o r t h e
o t h e r h a l f of t h e t i a e . I n a c c o r d a n c e w i t h ( 6 . 8 8 ) , t h e a n g l e , by
which t h e t u r n i s a c c o m p l i s h e d w i t h s u c h c o n t r o l s , e q u a l s

and t h e maximum a n g u l a r v e l o c i t y :

The s o l u t i o n ( 6 . 9 0 ) h a s meaning o n l y when t h e i n i t i a l and

f i n a l a n g u l a l a v e l o c i t i e s d i f f e r from z e r o . I t i s c l e a r t h a t ,
i n o r d e r t h a t t h e s o l u t i o n (6.90) e x i s t s , t h e i n e q u a l i t y

must b e s a t i s f i e d . Then t h e n a t u r e o f t h e c o n t r o l c a n be q u i t e
d i f f e r e n t : t h e c o n t r o l l i n g t o r q u e a t t h e b e g i n n i n g of t h e m o t i o n
c a n have a d i r e c t i o i . o p p o s i t e t o t h e requii-ed t u r n ( c f . , F i g u r e
6.16).
 . I n e i t h e r case, t h e solution
i s ambiguous a n d e x p r e s s e s ,
f i r s t l y , t h e p o s s i b i l i t y of a
t a r n by t h e a n g l e s 6 o r 2.1.-6
Wo
0
T t
- a n d , s e c o n d l y , t h a t boundary
c o n d i t i o n s e x i s t , f o r which b o t h
t h ? s o l u t i 3 n ( 6 . 8 9 ) and t h e
F i g u r e 6.16. s o l u t i o n ( 6 . 9 0 ) have m e a n i n g .
O b v i o u s l y , one s h o u l d a l w a y s s e l e c t from t h e a l l o w a b l e s o l u t i o n s
t h a t which h a s t h e s h o r t e s t m o t i o n t i m e T. The a n s w e r t o t h i s
problem i s n o t t r i v i a l , u n l e s s we h s v e z e r o boundary c o n d i t i o n s
on t h e v e l o c i t i e s ( 6 . 6 4 ) . In t h i s c a s e , t h e s o l u t i o n i s c l e a r l y
u n i q u e : t h e s ~ l u t i o n( 6 . 9 0 ) d o e s n o t e x i s t , and one s h o u l d s e l e c t
from t h e a n g l e s 6 a n d 2n-8 t h e o n e l e s s t h a n x. The i n v e s t i g a -
t i o n of t h e g e n e r a l c a s e i s v e r y i n t e r e s t i n g and can be c a r r i e d
out on t h e b a s i s of t h e obtained r e l a t i o n s ; such a c o n s i d e r a t i o n
w i l l n o t b e p r e s e n t e d h e r e , s i n c e i t would l e a d u s from t h e b a s i c
idea of discussion t o the side of particular d e t a i l s .

L e t u s now t u r n t o t h e s e c o n d c r i t e r i o n f o r o p t i m i z a t i o n , / 303
minimization o f t h e c o n t r o l l i n g torque impulse f o r a f i x e d ~ ~ P I J

t i m e T. The c o n d i t i o n f o r t h e maximum o f t h e H a m i l t o n i a n X
( 6 . 7 3 ) f o r t h i s c a s e d e f i n e s a more c o m p l i c a t e d d e p e n d e n c e ~f
t h e c o n t r o l l i n g t o r q u e on t h e f u n c t i o n c f ( T ' l . , t h a n o c c u r r e d f o r
t h e c a s e ( 6 . 7 2 ) . I t c a n be s e e n t h a t , i f
t h e c o n d i t i o n f o r t h e maximum of i% i s d e t e r m i n e d L y t h e same
r e l a t i o n s as i n t h e c a s e ( 6 . 7 2 ) . However, when t h e i n e q u a l i t y
( 6 . 9 1 ) i s v i o l a t e d , t h e maximum ( n o n - n e g a t i v e ) v a l u e of X i s
achieved f o r zero c o n t r o l :

Thus, t h e m o t i o n must c o n s i s t of s e g m e n t s , when t h e maxirr~um

t o r q u e a c t s , and segments of f r e e m o t i o n . T h i s c a n b e s e e n t h a t
t h e optimum c o n t r o l on t h e segments of non-zero c o n t r o l l i n g t o r q u e
w i l l be d e t e r m i n e d by e x a c t l y t h e same r e l a t i o n s a s i n t h e c a s e
of t h e problem of o p t i m i z i n g t h e t u r n t i m e : t h e c o n t r o l l i n g
t o r q u e i s d e t e r m i n e d by t h e r e l a t i o v ( 6 . 7 8 ) , t h e r i g i d body m o t i o n
and t h e change ?f t h e f u n c t i o n cp by t h e r e l a t i o n s ( 6 . 7 9 ) , and
t h e k i n e m a t i c s of t h e m o t i o n a r e d e s c r i b e d by t i l e e q u a l i t i e s
( 6 . 7 6 ) . Hence, i t f o l l o w s t h a t t h e o b t a i n e d s o l u t i o n s f o r t h e
problem of o p t i m i z a t i o n w i t h r e s p e c t t o t h e s p e e d of r e s p o n s e
i s c o m p l e t e l y a p p l i c a b l e t o t h e s e p a r a t e segments o f m o t i o n f o r
t h e problem under c o n s i d e r a t i o n . The r e m a i n i n g segments o f
motion must have z e r o c o n t r o l l i n g t o r q u e , i . e . , t h e y a r e segments
of f r e e r i g i d body m o t i o n . The t r a j e c t o r i e s o f f r e e m o t i o n o f a
s p h e r i c a l l y symmetric r i g i d body w i l l b e :

where KO c o r r e s p o n d s t o t h e t i m e a t which t h e f r e e motion b e g i n s . , ' 304

The r e l a t i o n s ( 6 . 8 4 1 , ( 6 . 8 5 ) o b t a i n e d above and he

- I
e q u a l i t i e s ( 6 . 9 2 ) a r e s u f f i c i e n t t o a n a l y z e t h e m o t i o n , It
s h o u l d b e n c t e d t h a t t h e number of p a r a m e t e r s d e t e r m i n i n g t h e
motion have i n c r e a s e d by o n e ( t h e f i x e d t u r n t i m e i s s p e c i f i e d ) ;
t h i s corresponds t o t h e a d d i t i o n a l condition (6.91) giving t h e
t i m e of t r a n s i t i o n from one segment of m o t i o n t o a n o t h e r . On
t h e segments of non-zero c o n t r o l l i n g t o r q u e , we w i l l c o n s i d e r ,
a s i n t h e p r e c e d i n g c a s e , t h e p a r t i c u l a r c a s e of m o t i o n when t h e
v e c t o r cp i s d i r e c t e d a l o n g t h e v e c t o r 9 . I n t h i s c a s e , t h e
v e c t c r s o ~ ( 1 )and p ( t ) m a i n t a i n a c o n s t a n t d i r e c t i o n . O b v i o u s l y ,
E
w i t h t h e t r a n s i t i o n t o a n o t h e r segment o f motion, i - e . , a s e g -
ment o f z e r o t o r q u e , t h e s u b s e q u e n t motion i s d e s c r i b e d by t h e
r e l a t i o n s ( 6 . 9 2 ) , from which i t f o l l o w s t h a t t h e a n g u l a r v e l o c i t y
vector WE maintains i t s p o s i t i o n . Accordingly, with t b e t r a n s -
i t i o n t o a s e g n e n t of f r e e m ~ t i o n , t h e o r i e n t a t i o n of t h e r o t a -
t i o n q u a t e r n i o n A(t) d o e s n o t change a n d , c o n s e q u e n t l y , t h e
v e c t o r p E ( t ) = pEO a l s o r e m a i n s f i x e d . Hence, i t f o l l o w s t h a t
t h e f u n c t i o n q(t) i s d e s c r i b e d by t h e same e q u a t i o n or, a l l .
segments of m o t i o n and d o e s n o t have d i s c o n t i r l u i t i t s , i . e . , f o r
a l l segments of m o t i o n , t h e r e l a t i o n ( 6 . 8 3 ) i s v a l i d .

Since t h e function c ~ ( f ) v a r i e s l i n e a r l y with time, passing

through zero, t h e i n e q u a l i t y (6.91) can be v i o l a t e d only once;
when t h e q u a n t i t y M q! f a l l s i l l s i d e t h e cube w i t h s i d e s

Depending on t h e i n i t i a l c o n d i t i o n s , t h e r e c a n t h e n b e s u c h
m o t i o n s a s : a ) m o t i o n w i t h t h e maximum t o r q u e , a segment o f
f r e e m o t i o n , m o t i o n w i t h t h e maximum t o r q u e of o p p o s i t e s i g n ;
b ) m c t i o n w i t h maximum t o r q u e , segment of f r e e m o t i o n ; c ) a
segment of f r e e m o t i o n , a segment w i t h t h e maximum t o r q u e ,

The v a r i a t i o n of t h e .c.igular v e l o c i t y o , i s d e t e r m i n e d on
each segment P m o t i o n by t h e r e l a t i o n s ( 6 . 8 4 ) and t h e f i r s t
e q u a l i t y of ( 6 . 9 2 ) . The n a t u r e of t h e v a r i a t i o n of t h e a n g u l a r
v e l o c i t y d e p e n d i n g on t h e c a s e of m o t i o n i s shown i n F i g u r e
6.17. It i s s e e n from t h e f i g u r e t h a t t h e c a s s s b ) and c ) c a n
e x i s t o n l y w i t h o o # o r , w i t h a u n i q u e t r a j e c t o r y f o r e a c h of
t h e c a s e s . Case a ) c a n be e x e c u t e d by two methods, which
c o r r e s p o n d t o d i f f e r e n t s i g n s of t h e i n i t i a l c o n t r o l t o r q u e .
 I n a d d i t i o n , c a s e a ) can degener-
a t e i n t o t h e a o t i o n without s
f r e e segment c o n s i d e r e d a b o v e ,
whec ,he t i m e o f motion T s a t l s -
f i e s one o f t h e e q u a l i t i e s (6.39:
OF ( 6 . 9 0 ) , o r i n t o f r e e motion
onl.y, when t h e f o l l o w i n g r e l a t i o n
F i g u r e 6.17.
is satisfied:

I n t h e f o r m u l a t i o n of t h e problem u n d e r c o n s i d e r a t i o n , t h e
t o r q u e i m p u l s e a n d . c o n s e q u e n t l y , t h e t i m e of t h e segments of
motion w i t h maximum ? o n t r o l l i n g t o r q u e a r e m i n i m i z e d , It
f o l l o w s f r o m F i g u r e 6-17 t h a t , i n a l l c a s e s , t h e t r a j e c t o r i e s
b ) and c ) , i f t h e y a r e p o s s i b l e , a r e more economical t h a n t h e
t r a j e c t w y a!. A c c o r d i n g l y , f o r a g i v e n oo,a,, T ar,d & O A ,
[ r e c a l l Lkst t h e d ; r . c t i o n of t h e a n g u l a r v e l o c i t y v e c t o r i n
t h e p a r t i c u l a r c a s e under c o n s i d e r a t i o n c o i n c i d e s w i t h t h e
d i r e c t i o n cf o ] , a n a l y s i s o f t h e mot.icr, is performed i n t h e
s e q u e n c e : v e r i f i c a t i o n of t h e c a s e s b ) and c ) and t h e n a s e l e c L
t i o n of o n e of he m o t i o n s a ) ( o f which t h e r e a r e two, a s i n t h e
preceding c a s e ) .

The f o l l o w i n g r e l a t i o n m i l s t b e s a t i s f i e d f o r t h e t r a j e c t o r y
b):
or-oo= f -TI*
Mmax
J

where r~ i s t h e l e n g t h o f t h e f i r s t segment of motlon w i t h

m a x i ~ u mt o r q u e . The v a l u e o f '1 i s found f r o r , t h e s e r e l a t i o n s
i n t h e form: / 305
 For t h e rlotation a n g l e f l 2 a r T [ t h e condit.ion (5.93) can
o c c u r Ln t h e c a s e of t h e e q u a l i t y , t h e m o t i o n a l o n g s u c h a
t r a j e c t o r y !s p o s s i ~ l e ]and w o # w T , r o t a t i o n i s a c c o m p l i s h e d by
t h e a n g l e 6 $ 2 k n ( k = 1, 2, ...) , u n l e s s t h e r e a r e more e c o n o m i c a l
t r a j e c t o r i e s of t h e o t h e r type.

Anal.agous r e l a t i o n s a r e f u 1 l " i l l e d f o r t h e t r a j e c t o r y c ) :

where v1 i.s t i l e l e n g t h of t h e f i l - s t segment, 0," f l a e e m o t i o n . The

value Ta i e : found from t h e s e r e l a t i o n s i n t h e ~ o r r n ;

I n t ' l o s e c a s e s when ooT>,b [ t h e e q u a l i ~ yIr. p o s ~ l ' o i t ?w i t h

f u l f i l l r e n t of c o r l d i t i o n ( 6 . 9 3 ) ] , mot.ion a l o n g s u c h i~ t r a a je c t o ~ j
rriust o c c u r by t.he a n g l e 6 + 2 k . c (k = 1 2 . , uriless t h e r e a r e
more econorriical t z a a j e c t - . r i e s of t h e o t h e r t y p e . L i k e w i s e , i f r3
i s o b t a i n e d n e g a t i v e , t h e m o t i o n n-ust b e a c c o m ~ i i s h e db y t h e
a n g l e 2n--6 o r a:Long a t r a j e c t o r y of t h e o t h e r t y p e .

We h a v e , for. t h e t r a j e c t o r y the
i), following r e l a t i o n :
where r1>0, T ~ > O ar7.2 t h e l e n g t l i s of t h e f i r s t and t h i r d segments
of motion w i t h c o n s t a n t maxi11;:un t o r q u e .

These r e l a t i o n s d e t e r m i n e t h e v a l u e s o f 71 and rz : / 307

The upper s i g n h e r e c o r r e s p o n d s t o t h e c a s e o f m o t i o n when b ! o

f i r s t segment h a s 2. p o s i t i v e tc-que ( a n d t h e t h i r d , n e g a t i v e ) ;
he lower s i g n c c r r e s p o n d s t o t h e r e v e r s e s e q u e n c e o f t o r q u e s .
We n o t e t h a t t h e second t r a j e c t o r y a ) d o e s n o t alivays o c c u r .
Thus, f o r example, o n l y t h e f i r s t t r a j e c t o r y of ( 6 . 9 6 ) e x i s t s
f o r oo=(*r=O, ~ i n c ewe have n e g a t i v e v a l u e s o f rl znd r2 for
t h e s e c o n d . Only t h e f i r s t t r a j e c t o r y ( ~ ? < o ) a l s o e x i s t s f o r
~ ~ = c , , > C a n d 6>(!10T , t h e t r a j e c t o r y o f f r e e motion 3 n l y ( 5 . 9 3 )
i s e x e c u t e d f o r 6=ooT , b o t h t h e f i r s t and second t r a j e c t o r f e s
e x i s t f o r b < ( d o T . Y i t h f u r t h e r i n c r e a s e of oo, t h e v a l u e s rl
and a a p p r o a c h 1 / 2 T, and f c r %=6+--'TJ Mmax become e q u a l t o
Mmrx
1 / 2 T. For oo >6-tT-j- t h e s o l u t i o n s (6.96) formally l o s e
meaning ( a n e g a t i v e q u a n t i t y a p p e a r s u n d e r t h e r o o t ) . !?his
i n d i c a t e s t h a t a t u r n i n t h e t i m e T by t h e a n g l e 6 i s i m p o s s i b l e
f o r s u c h boundary a n g u l a r v e l o c i t i e s ; C.%e t u r n i s t h e n accomp-
l i s h e d by t h e a n g l e 6 + 2 k n ( k = 1.2. ...).

I n e i t h e r case, t h e r e e x i s t s e v z r a l t r a j e c t o r i e s of type a ) ,
which a c c o n p l i s h t h e r e q u i r e d t u r n . Such a m b i g u i t y i s d e t e r m i n e a ,
f i r s t l y , by t h e p o s s i b i l i t y of a t u r n by t h e a n g l e s 6. * ~ - 0 and
%+2kn ( k = 1,2, . . . I , which g i v e t h e same s p a t i a l t u r n a n d , s e c o n d l y ,
by t h e two p o s s i b l e t r 2 j e c t o r i e s (6.95). A l l possible trajec- / 308
t o r i e s s h o j ~ l da l w a y s c e examined t o f i n d t h e optinum t u r n and
t h e most economical s e l e c t e d from tnem.

Such a m b i g u i t y e x i s t s not o n l y f o r z e r o boundary c o n d i t i o n s

on t h e v e l o c i t i e s ( 6 . 6 4 ) . I n t h i s c a s e , a s was i n d i c a t e d a b o v e ,
o n l y one t r a j e c t o r y ( 6 . 9 6 j i s e x e c u t e d , t h e e q u a l i t y r l = r ?
o c c w s a n d t h e o~cimurnt u n 1 i s a c c o m p l i s h e d by t h e a n g l e s 6 < n .
Such a c a s e h a s p r a c t i c a l d a l u e , t h u s we w i l l c o n s i d e r i t i n
more d e t a i l . F o r s u c h m o t i o n , t h e a c c e l e r a t i o n o c c i i r s from t h e
b e g i n n i n g w i t h paximum c o n t r o l l i n g t o r q u e , which h a s t h e d i r e c t i o n
of t h e mismatch q u a t e r n i o n &A,, up t o t h e v a l u e cf a n g u l a r
velocity:

which i s d e t e r m i n e d from t h e g i v e n t u r n t.irne. A segment o f

t h r e e n o t i o n of l e n g t h

f o l i o w s a f t e r t h i - s , and t h e n a segment o f b r a k i n g w i t h t h e
maximum t o r q u e i n t h e o p p o s i t e d i r e c t i o n . I n p r a c t i c e , t h e
a n g u l a r v e l o c i t y o f t h e t u r n ( 6 , 9 7 1 , and n o t t h e t u r n t i n e T ,
i s u s u a l l y s p e c i f i e d . If t h e c o n t r o l l i n g t o r q u e i s t h e n s p e c i -
f i e d i n t h e form o f t h e r e l a y f u n c t i o n :

where Q K i i s t h e c o r r e c t i o n a n g u l a r v e l o c i t y ( 6 . 3 7 1 , t h e n it i s
s e e n t h a t t h e c o n t r o l ( 6 . 9 8 ) e x e c u t e s e x a c t l y t h e optimum c o n t r o l
c o n s i d e r e d h e r e f o r t h e c a s e of t h e s p h e r i c a l l y symmetric body.
T h i s e x p l a i n s t h e a s s e r t i o n made i n C h a p t e r 5 t h a t t h e c o n t r o l .
by t h e q u a t e r n i o n components i s c l o s e t o optimum.
 I. We w i l l b r D i e f l y d i s c u s s t h e h y p o t h e s e s made i n p a r a g r a p h
4 The h y p o t h e s i s z I s t h e s i m p l e s t of them. The i n v 3 s t i g a -
t i o n c a r r i s d o u t i n t h i s p a r a g r a p h has shown t h a t , f o r e a c h
spe~ified,
. ~t h~ e r e c a n e x i s t o n e o r s e v e r a l type: of trajec-
c o r i e s , which 3 x e c u t e t h i s r o t i a n . Accordingly, -fr deterxines / 304
ane o r s e v s r a l v a i u c s of p Actually, i n any f i n i t e r s g i o n ,
EG '
o n e t r 2 j e c t 0 1 . y w i l l b e optirnun ( w i t h c o n s i d e r a t . i o r 1 ?f t h e s u f -
'icient c o n d i t i o ? ~ f o r o p t i n i s s t i o n ) , t h u s Ax a c t u a l l y d e t e r m i n e s
$he v e c t o r p uniquely. Sowel:er, w e have n o t been s u c c e s s f u l
EO ..
i n finC':lg a n z l ~ c r i i h r ,r::lcn s e t s a v e c t c r pEp i n c o - r e s ? o n d e n c e
w i t h t h e q u a t e r n i o n &,.

The h y p o t h e s i s 3 is more c o n p l i c a t e d ; i t s a l t e r n a t i v e i s
t h e assuription t h a r t h e v e c t o r p ( t ) can change i t s s i g n i n t h e
E
m o t i o n p r o c e s s ( i . e . , a t r a n s i t i x :an o c z u r f r o m o n e o f t h e two
values t o the other). If s u c h a p o s s i b i l i t y i s a s s u ~ e d ,t h e n
i t c a n b e shown t h a t s u c h a t r a n s i t i o ~ lf r o m o n e s i g n t o a n o t h e r
c a n o c c u r o n l y when t h e v e c t o r p f a l l s on t h e c o o r d i n a t e p l a n e .
E

I n t h i s c a s e , r i a t i o n i s w o s s i S l e i n t h e s l i d i n g n o d e w5en
t h e v e c t a r p moqes a l o n g t h ? c o o i - d i n a t e p l a n e ( F i g u r e 6 - 1 8 ) ;
E
t h e a n g u l ~ rv e l o c l t y o f s c c h n o t i o n w i l l e q u a l a d n . The l e n c t : . ~
o f s u c h a s e g m e n t d e p e n d s on t h e p l a c e a t which t h e v e c t c r p
at
E
f a l l s on t h e c o o r d i n a t e p l a n e a n d d o e s n o t e x c e e d -5-, s i n c e such
a s l i d i n g mod? c o n t i n u e s up t o t h e i n c i d e n c e o f t h e v ~ c t o rp a:
t h e p0icr.t W I . The m o t i o n w i t h t h e v e l o c i t y WA* i n t h i s c a s e c a n
b e j o i n e d ~ i c ho t h e r n o t i 0 r . s ; t h e number o f p o s s i b l e t r a j e c t o r i e s
i n c r e a s e s b e c a u s e o f t h e a p p e a r a n c e o f new t y p e s o f t r a j x t o r i e s
inc1:lded as o n e o f t h e s e g n z n t s o f m o t i o n ( 1 . 5 0 ) . The follawin2:
t h i r t e e n t r a j e c t o r i e s a r e s u c h m o t i o n s ( w e U S P het.3 t.he n o t a t i o n
f o r t h e component q u a t e r n i o n s ( 6 . 4 8 ) - ( 6 . 5 0 1 ) : / 310
 A 1 1 t h e s e t y ? e s o f t r a j e c t o r i e s ~ e r m i tone t o d e t e r m i n e
u n i q u e l y t.he component r S o t . a t i o n s by t h e r e s u l t z n t q u a t e r n i o n 'Iz
and t h e c o n d i t i o n s o f ii.12 motfon of t h e v e c t o r Q Thus, f o r
E'
?sample, o!! t h e t r a j e c t a r y .i4-\1o.\.+I .\I
0 t h e number o f segment.^
of which exc?eds t h r e e , t h e a r . s l e 6-41 and $1 a r e r e l a t e d by t.he
condition:

h e meaning o f t h i s c o ~ d i t i o n
s t a k e n from P f g u r e 6.1s:.
Besides t h i s , t h e r e e x i s t another
whole s e r i e s af t r a : e c t o r i e s , in
wh:cl! b o t h t h e r c t a t . i o n .I+, and
t h e r o t n a t i o n .ixr a r e pr8eserit

F i g u r e 6.18. amons t h e component r o t a t i o n 5 .

For s u c h t r a j e c t o r i e s , the
component r o t a t i o n s c a n n o t b e d e t e r m i n e d i n a l l c a s e s . W e will
i n d i c a t e t h e t r a j e c t o r i e s , f o r which Ax u n i q u e l y d e t e r m i n e s
a l l t h e component r o t a t i o n s

A nur,lerical i n v e s t i s a t i o n was c a r r i e d o u t i n a l l t h e c a s e s
of m ~ t i o cc i t e d h e r e . fiegions o f e x i s t e n c e f o r t h e s o l u t i o n s
f o r e a c h t y p e o f t r a J e c t @ r y were c o n s t r u c t e d ; t h e s e r e g i o n s a1>e
superimposed on t h e r e g j - o n s e x i s t i n g f o r t h e m o t i ~ ) nof t h e vect,or
pE i n t h e r e g i o n A. arid a l o n g t h e s e p a r a t r i x a n d t h o s e c o n s i d e r i . :
i n paragraph 6.4. The r e s u l t s o f t h e c a l c u l a t i o n h a v e shown
c h a t a l l t h e s e t r a j e c t o r i e s a r e " l o n g e r " t h a n ?.hose c o n s i d e r e d
i n paragraph 6 . k . Sometimes i t a p p e a p e d t h a t t h e trajectories
of s u c h a n a t u r e h a v e lonkyer m o t i o n times t h a n f o r t h e c o n t r . 0 1
(6.37). T h u s , t h e v a l i d i t y o f h y p o t h s i s 3 i s v e ~ ~ i f i eby
d t.hr
performed i n v e s t i s ? - t i o n .

The h y p o t h 2 s i s 1 i s , e v i d e n t l y , t h e most c o m p l i z a t , e d 3 1 7 3

unobvlcus. i f i t i s assumed t h a t t h e f u n c t i o n s i g n ( 0 ) i n t h c
e x p r e s s i o n ( 6 . 4 4 ) d o e s n o t h a v e a ? e r a among i t s v a l u e s , i,hei-, / 311
---
motions with t h e v e l o c i t i e s c*, a r e e x c l ~ d e d . T!,en t h e t r a j e c -
t o r i e s of t h e t y p e X I 1 1 - X I V v a n i s h a n d a n u ~ n b e r o f r e g i o n s
a p p e a r w h i c h a t a e n o t c o v e r e d by t h e r e r , i a i n i n g t r a d e c t o r i e s -
T h u s , i n o r d e r t o h a v e optimum c o n t r o l ~ . atn y p o i n t ( t h e p o i n t
o f t h e p o s i t i o n s o f t h e e n d s o f t h e vec.tor . b ) , i t i s n e c e s s a r y
t o a s s u m e a z e r o v a l u e among t h e v a l u e : of t h e function s i g n (0).
A n a l o g o u s l y , t h e a b s e n c e c f t h e v a l u e s +1 o r -1 :or t h i s same
function sign (0) leads t o a reduction of the possible mctions,
as a r e s u l t o f which r e g i o n s a p p e a r i n w h i c h t h e r e a r e no " o p t i -
~aum" s o l u t i a n s . N o n e t h e l e s s , i t i s d i f f l c u l t t o u n d e r s t a n d
p h y s i c a l l y , w i t h what f o r m t h e s h i f t o f t h e v a l u e s o f t h e
f u n c t i o n s i g n ( 0 ) occurs w i t h motion of t h e v e c t o r
PE '

The h y p c t h e s i s 3 p e r m i t s one t o e x a m i n e o n l y o n e h e m i s p h c ~ > e ,

i n which t h e e n d s o f t h e v e c t o r s Ar a r e a r r a n g e d . The q u a t e r a i o n
At, having t h e opposite d i r e c t i o n , corresponds t o the i : ~ v c r s e
r o t a t ion.

I t c a n be s e e n t h a t t h e m o t i o n e x e c u t e d by t h e secolld v a l u e
~f t h e v e c t o r pg must c o r r e s p o n d t o t h e i n v e r s e r o t a t i o n . I x ,
-
i.e., the r o t a t i o n w i l l occur with t h e inverse ( i n sign) angular
velocities. However, t h i s same m c t i o n , i f i t i s examined on t h e
s e c o n d h e m i s p h e r e , w i l l a p p e a r e x a c t l y t h e same as i s s t i p u l a t e d
by t h e h y p g t h e s i s 3 .
329
 11. We w i l l show t h a t t h e t r a j e ~ ~ t o royf t y p e ST1 f o r t h e
2n
m i d d l e r o t a t i o n a n g l e e q u a l i n g 3- becomes e q u i v a l e n t t o t h e
t r a j e c t ~ r i e so f t y p e V I I I a n d I S . We w i l l collsider f i r s t the
q u a t c i 3 n i o n of t h ? t r a j e c t o r y o f t y p e I X :
= .i31 hi,
.Ix 0

and s u b s t i t u t e h e r e the v a l u e s o f t h e c o m p o n e n t s , in a c c o r ~ d a n c e
w i t h (6.541 and ( 6 . 5 6 ) .

By p e r f a r m i n s t h e m u l t i p l i c a t i o n , we o b t a i n f o r t ? h e compnn-
e n t s of t h e r e s u l t a n t quaternion:

1
azl= - - cos -sin -
32
y-5 2 0 '

" "+ ' " sin-@, -

Xu=-
I
):2
sin 7,
-
cos -
2
Y
1's
cos -2 2

--C-6
I
sin -
Or1 sin -
0s
2 2 '
'
XU =,,sin-cos
1
- + -cos-sin-+
62 I @I, "*
l'2 2 2 ys 2 2
@z
+ -sin-
3
1 ",I
2
sin-
9

We now m u l t i p l y t h e o b t a i n e d q u a t e r n i o n o n t h e r i g h t hy
t h e quaternion ~ i u z [ i n accordance with ( 6 . 5 6 ) ] . After the
n e c e s s a r y t r a n s f o r m a t i o n s , i t r e d u c e s t o t h e form:

Ax =Arl 0 A2" Am.

-
6,
Ira = COS---
2
",-
cos - Iby,
+
2
- {: "2
sin ?-sin ",I + "n
2 +

I "<I+@*
Axl -- - -sin-
2

5 2
cos
2 +
 t

+ sin ($- --)[=sin $()/2 cos -

e n
2 - sin%)]
2
1 "rI

I
=-cos -
3
"2
sin ",I
2
+ 6,
2
+
+ -sin-
1 "2
cos '3r1+%i --I
sin -
"2
sin er1 + Qyt +
3 2 2 V 2 2
"u,
I
- :)sin+ ( V ~ C O S -
+-sin(:f i 2 + s i n k2 ) ,
"r,+ "
I
=- 7 sin
0
42
2
+,
+ )/3I
Y sin -cos
Q2

2
Vy~+ey,
2
1
- '32 sin " f l + 0,
+ sin -2 2 +

If o n e s e t s h e r ? , t h e n we o b t a i n t h e r e s u l t a n t
8r1-0
quaternion f o r the trajectory of type V I I I :
.hz = A Z O
Au2,

I 8, u* I
sin-- cos --
elf2
ALI =--
5 2 2
-cos -
"2
2
sin-+
2
I 4, em
+-
G
sin-sin.
2 .
1 6, 8,
Az2 =-sin-cos-.
VB 2 2

nu =-
r
2
1 v2
cos - sin-0 -
2
2 2
+-
3
sin-'32 cos -+
1
2
"y,
2
"m
+ -sin-sin-.
I
n
"2

2n
I t c a n be s e e n t h a t , :.f o n e s e t s i n the exprt-~sion
for Az=AyloA20A,, , t h e n it e x a c t l y c o i n c i d e s w i t h t h e e x p r e s -
sion for A r - - h u 1 0 A 2 , i n which t h e a n g l e 6 ~ 1 s h o u l d b e r e p l a c e d
by t h e a n g l e ~ 1 1 + 6 r 2 . One can v e r i f y t h a t t h e t r a j e c t o r y
A z = A ~ o A Y z a l s o changes i n t o t h e t r a j e c t o r y Ar=Au1~i20Au2f o r t . h i s
same v a l u e o f t h e a n g l e a t ,
 Thus, i t has been shown t h a t t h e q u a l i t y

2%
is satisfied for 3 (expletive deleted).
 BASIC NOTATION

H - hypercomplex s p a c e ;
I, E, E 1 , E" - o r t h o n o r m a l b a s e s i n t h r e e - d i m e n s i o n a l s p a c e ;
il, i2, i3 - hypercomplex u n i t s ; b a s i s v e c t o r s of t h e
b a s i s I;
ei, ei , eil1 -- b a s i s v e c t o r s of b a s e s ;
A , M , R , S, P , N - q u a t e r n i o n s ;
l i .pi, ri, sin pi. V, - q u a t e r n i o n components;

s q a l , v e c t - d e s i g n a t i o n o f t h e s c s l a r and v e c t o r p a r t s of
a quaternion;
jl.r-s*P. - v e c t o r s ; v e c t o r p a r t s o f a q u a t e r n i o n ;
8. - c o n j u g a t e q u a t e r n i o n s ;
A . I -- i n v e r s e q u a t e r n i o n s ;
l l ~ ~ l lllafrl
-
-
- norms c f q u a t e r n i o n s ;
I.~l=l'l!.~li = a - modulus ( t e n s o r ) o f a q u a t e r n i o n ;
9. G - a n g l e and u n i t v e c t o r of a q u a t e r n i o n ;
- i n f i n i t e s i n a l transformation q ~ a t e r n i o n s ;
A~ R~ - q u a t e r n i o n s mapping o n t o a b a s i s ;
A O * A ~ - initial and f i n a l v a l u e s of q u a t e r n i o n s ;
- r e s u l t a n t quaternion;
@ z , t r - a n g l e and u n i t v e c t o r of t h e r e s u l t a n t q u a t e r n i o n ;
f
0=2ttg-,- - f i n i t e r o t a t i o n v e c t o r ;

@==fig - t r u e r o t a t i o n v e c t o r ;
- apparent r o t a t f o n vector;
CI, Cg - c o n s t a n t q u a t e r n i o n s ;
vl*l':*fi - d i r e c t i o n c o s i n e s of t h e v e c t o r s 6,f, ;
a , b, c , d, r , m - v e c t o r s ;
a-lot- magnitude o f a v e c t o r ;
w - angular velocity vector;
 rEs a*, cE - v e c t o r s
mapping o n t o t h e b a s i s E;
r i E J w i E - components of t h e map?ing v e c t o r s rE, %;
01. G I - components - p r o j e c t i o n s 04 o o n t o t h e body and
f i x e d b a s e s E and I;
w ~ .- w mappings
l o f w o n t o t h e b a s e s E and I;
F - unit vector;

Om. "61. *A- extremum a n g u l a r v e l o c i t y v e c t o r s ;

Am- -'r[* A a n - extremum r o t a t i o n a l v e l o c i t y q u a t e r n i o n s ;
N ( t ) - q u a t e r n i o n - p a r t i c u l a r s o l u t i o n of t h e k i n e m a t i c / 315
equation, including t h e u n i t i n i t i a l coriditions;
A, B, C, D, G , ? - orthogonal matrices;
A~ - transposed matrix;
-
A-l inverse matrix;
R , 1, I , E - 2olumn m a t r i c e s ;
1 - g n i t m a t r i x ( i n c l u d i n g t h e two-dimensl o n a l ) ;
li-e - i n f i n i t e s i m a l t r a n s f o r m a t i o n m a t r i x ;
6 - r o t a t i o n a n g l ~of t h e m a t r i x A ;
h - e i g ? n v ? ? u e s of t h e m a t r i x A ;
k
U, R - two-dimensional u n i t a r y m a t r i c e s ;
u , v - e l e m e n t s of two-dimensional complex s p a c e ;
U* - t h e complex c o n j u g a t e m a t r i x of t h e m a t r i x U ;
,'v u * - ~ t h e H e r m i t i a n c o n j u g a t e m a t r i x of t h e m a t r i x U ;
AU - i n f i n i t e s i m a l t r a n s f o r m a t i o n m a t r i x ;
Us - P a u l i s p i n m a t r i c e s ;
Q. S ~ L V I - three-dimensional angular v e l o c i t y matrices;
V , VE, VI - two-dimensional u n i t a r y a n g u l a r v e l o c i t y
matrices;
T , a, T - versors (unit vectors);

T. Q - E u l e r a n g l e s ;
"9

-4, W , '8. e* . ' - p o i n t s on a s p h e r e ;

h , T - i n t e g r a t i o n i n c r e m e n t and t i m e w i t h i n t h e i n c r e m e n t ;
f

ludt - t o t a l
0 '.
rotation angle;
 g - i n c r e m e n t of t h e t o t a l r o t a t i o n a n g l e ;
gav
X = - -E coc>f'fi c i e n t ;

W, T , V - Lyapunov f u n c t i o n s ;
fiki - correction velocity;
a - Hamiltoniarl;
$ - a u x i l i a r y f u n c t i m s c o r r e s p o n d i n g t o ?.i;
cpi - auxiliary f u n c t i o n s c o r r e s p o n d i n g t o wi;
J1, J2, J 3 - p r i n c i p a l moments of i n e r t i a o f t.he t o d y ;
M - external controlling torque;
Ei - r e s p o n s e a x e s of t h e a n g u l a r p o s i t i o n s e n s o r s ;
M,EE,S, - p e r m i s s i b l e c o n t r o l r e g i o n s i n dynadic and
k i n e m a t i c problems;
gm - r e g i o n s on a s p h e r e ;
., X - s i g n s o f q u a t e r n i o n , s c a l a r anii v e c t o r m u l t i p l i -
cation, respectively;
E - quantum of a n g u l a r v e l o c i t y measurement;

i - imaginary u n i t .
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