On a Novel Geometric Representation of Rotation

摘要: This paper presents a novel method of representing rotation and its application to the ranges motion coupled joints in human body, using planar maps. The present work focuses on viability this representation for situations that relied maps unit sphere. Maps sphere have been used diverse applications such as Gauss map, visibility maps, axis-angle Euler-angle representations etc. Computations spherical surface are difficult computationally expensive; all above suffer from problems associated with singularities at poles. There methods represent two-dimensional polygons. proposes use multiple domain “cube” instead single domain, achieve objective. parameterization domains is easy obtain convert coordinates. Further, there no localized extreme distortion parameter space it gives robustness computations. has compared terms computational ease issues related singularities. Methods proposed joint range degrees freedom various digital models (such shoulder, wrist fingers). A twist addition existing swing-swivel representation.