Rotation matrix optimization with quaternion

@article{Katsuki2015RotationMO,
  title={Rotation matrix optimization with quaternion},
  author={Shogo Katsuki and Noboru Sebe},
  journal={2015 10th Asian Control Conference (ASCC)},
  year={2015},
  pages={1-6}
}
This paper shows that the representation with the quaternions improves the efficiency in optimization of rotation matrix. The effects of vibration caused by oscillating objects can be suppressed if the object is fixed with the adequate attitude. In general, Euler angles are widely known as a representation of rotation matrices, however it is difficult to optimize the attitude angle by using Euler angles. This is because Euler angles have trigonometric functions. Contrarily, rotation matrices… CONTINUE READING