@inproceedings{pan_evaluation_2014,
	title = {Evaluation of rotation formalisms in three dimensions using a {Lissajous} knot},
	isbn = {978-1-4799-3866-7},
	url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6808830},
	doi = {10.1109/SSD.2014.6808830},
	abstract = {An evaluation of three dimensional rotation formalisms using a Lissajous knot is given. The optimal parameterization of SO(3) is determined so that robotics attitude system can become more effective. Given a robot's local translational velocity and local angular velocity, numerical integrations along a robot's trajectory using rotation formalisms are performed. Comparing the resulting trajectory with a robot's true trajectory, this paper considers numerical error, integration time and steps as parameterization methods' evaluation criteria.},
	urldate = {2016-09-01},
	publisher = {IEEE},
	author = {Pan, Hejia and Jones, Bryan A.},
	month = feb,
	year = {2014},
	keywords = {Quaternions, Rodrigues parameters, Rotation formalisms, Rotational kinematics, mentions sympy},
	pages = {1--7},
}

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