Issue No.11 - November (1983 vol.32)
W.R. Franklin , Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute
This paper presents a more efficient method for iterated rotation in three dimensions where multiple points are being rotated by multiple angles about the same axis, as would he done in robotic simulation or computer graphic animation. General axes that do not necessarily pass through the origin and multiple composed rotations are also handled. The algorithm is numerically well conditioned for all axis directions.
transformation, Animation, Cayley-Klein parameters, computer-aided design, computer graphics, Euler angle, quaternion, robotics, rotation
W.R. Franklin, "Efficient Iterated Rotation of an Object", IEEE Transactions on Computers, vol.32, no. 11, pp. 1064-1067, November 1983, doi:10.1109/TC.1983.1676158