On The Parametrization of The Three-Dimensional Rotation Group
On The Parametrization of The Three-Dimensional Rotation Group
John Stuelpnagel
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SI.1M R E T I E W
Vol. b,No. 4, October, 1964
The author is grateful to Dr. IC. E. I<alnian, of ItIAiS,for suggesting that this
paper be written, as well a5 for illany helpful conversations.
2. Notation and preliminaries. \Ye shall use K to denote the set of coiilples
2 x 2 matrices of the fonn ti = (-Oa - a') ; taking as basis
with ~ u , ' = 1. KOis spariried by the set Q = {ti1 , ti? , ti3/.I:or fixed u E C', a E K,, ,
define linear niaps of KOinto itself by F,,(ti) = utizr-', and A,(ti) = tix - zti,
for any K t KO. The inatrices of I?,, and A, with respect to Q will be denoted by
y ( u ) and 6 (.r ), respectively.
The rotation group will be denoted by R ; it consists of those orthogonal
3 x 3 matrices with deternli~iant1. I,, and 0, will designate the identity and zero
niatrices, respectively, of dinlension n; the subscript will be omitted except when
confusion is possible. The transpose of a vector or nlatrix will be indicated by a
prime, e.g., x' is the row vector obtained by transposing the column vector .T.
For any matrix A , Tr A denotes the trace of rl.
The theoreill of Brouwer on the invariance of donlain, to which we will appeal
in a later sectioil, is stated as follows, and is proved in Hurewicz arid Wallnlan
[ 2 ] :If and B are honieolllorphic subsets of a Euclidean space En and A is
open, then B is open.
3. The topology of R. The nlatrix y(u) of r,, with respect to Q is easily seen
to be
which is orthogonal for all u E C-, and has deteriniriant 1. Also, for u, v E li,
y ( u )y (v) = y (uv), so y is a group hoi~~omorphisi~l.
Since y is continuous, and
U is conlpact and connected, r ( U ) is a conlpact comlected subgroup of R. The
424 JOHN STUELPSAGEL
Since x'x = 1, the set -11 of all points satisfying the above conditioris is contained
in the unit sphere S j in E! If a is any point of s5not in M , we can project s5- ( a ]
stereographically orito the hyperplane orthogo~ialto a, and thus obtain an ein-
bedding of d l , which is topologically equivalerit to R, in E5.
To do this explicitly, let V be a 3 X 6 matrix with Va = 0, VV' = I g . Then
V'V is the projection alorig a onto the subspace of Eb orthogonal to a. For
x E ilI, let y = Vx/ ( 1 - a'x). This represents the point which is the intersectiori
of the line joiriing x and a with the hyperplane orthogonal to a. I t is defined for
all x E A//, since the denominator vsu~ishcsonly if z = a, but a f l f . The cor-
THE THREE-DIMESSIOSAL ROTATIOS GROUP 425
7j =
V?
(1 - a'.~.) +(a'?) V.I. 1
- = - (yty + 1 ) ( V + gal)?
(1 - a ' ~ ) ~ 2
The resulting equation for y is clearly not as simple as the origirial lineal
equation for x, and there is no apparent advantage in the reductioil in the
liunlber of scalar variables by this method. I t is possible that an embedding in
E" inay be obtained I\-hich leads to a sinlpler equation for y. This parainetrization
is priinarily of interest because it uses the slllallest possible number of scalar
variables for an everywhere defined, 1-1, corltirluous representatioi~of R, and
because the given embedding is the most obvious and probably the simplest
which can be obtained with five parameters.
5. The quaternion method. As we saw in $3, there is a 2-1 correspondence
y between the quaterilions of unit nor111 and the elements of R. Given the dif-
z(
ferential equation t ) = R( t ) X ( t ) in R, we can determine a differential equation
) 6-such that ~ ( z ~ () t=
zi(t) = ~ ( t ) u ( ti11 ) X(t ), and we now indicate how this
is done.
+
Let a = a1~1 C Y ~ K Zf 0 1 3 ~ 3E K O ,and consider A, acting on KO. The matrix
of A, with respect to the hasis Q is
426 J O H S hTt-ELPNAGEL
and
I t should be noted that the original linear equation is trarisfornled into a linear
equation; this was riot the case with the 5-dimensional method, so this method
is obviously far superior to the previous one. Although the parainetrizatioll is
not 1-1, no difficulties arise, since y is a local homeomorphism.
I t would be reasonable to ask whether it might be possible to obtain a repre-
sentation of this form, that is, one-to-many, using orily three parameters, but
still possessing the property of being a local homeomorphism, and having no
singular points. The answer is no, for this would force the parameter set to be a
"covering space" of R, and it is k1101vr.n that the 3-sphere, which callnot be
represented topologically by less than 3 parameters, is the orily covering space
of R, except for R itself.
6. Three-dimensional parametrizations. As we showed earlier, no X-dimen-
sional parametrizatiori can be both global arid nonsingular; however, there are
a t least three such parametrizations in commori use, each of which has certain
advantages, and we present them here.
The Euler angles are defined in rnany different ways, depending on the prob-
lem to be solved. The definition adopted here is convenient for probleiils irirrolving
orientation of aircraft, etc., since the Euler angles 4, 8, fi correspond to the com-
rilonly used paranleters of roll, pitch, and yaw, respectively.
If
I t is clear that the Euler angles give a parametrization of the rotation group
except at the points 5 = 0, or 8 = & ~ , / 2 .
I ~ X= fix,where Q is as in $5,then it is seen by direct colnputation that
i
1 0 -sin 0
2 sin a
x?.
'
428 JOHS STUELPNAGEL
1
S = n - -2 ( n s - s n ) + (' - a 2a2 (a'2)) (s2n + ns2 - 2 s n s ) .
The derivation of this equation requires some lengthy computations, which are
omitted. Although the number of parameters has been reduced to three, it is
clear that the form of the transformed differential equation is considerably more
conlplex than that of the original. Also, the transformed equation has a pole at
a = 2n, just as we would expect fro111 the nature of the map X -+ S , since the set
of S for which -3 Tr s2= 4n2 is collapsed by the exponential inap into the
identity.
The final 3-din~ensionalparametrization we shall consider is kno~vrlas the
Cayley parametrization (not to be confused with the Cayley-Klein parameters),
and also uses 3 X 3 ske~v-symmetricmatrices to represent rotations. If S is skew-
symmetric, we again let a2 = - $ Tr s2, and now set
IIEFERENCES
[ l ] H . HOPF,S y s t e ~ n esymtnetrischer H i l i n e a , ~ ' o r n l e nu n d euklidische Jlodelle der p ~ o j e k t i u e n
Raurne, 1-ierteljschr. Naturforsch. Ges. Zurich, 1940.
[2] IV. HUKEWICZ A N D H . W.ILL~I.IN, 1limen.sion T h e o r g , Princeton Cniversity Press, Prince-
ton, 1948.
[3] A. C. ROBINSON, O n the u s e of q u a t e i ~ n i o n si n s i t n u l a t i o n of rigid-body m o t i o n , Wright
Air Development Center Technical Report 58-17, D a y t o n , Ohio.