Representation of 3D Motion by Projective Angles

Angular motion in 3D space has been represented using several approaches, such as cardanic angles, quaternions, Euler parameters. Notwithstanding that in some applications some of them are more convenient, none of these solutions is completely satisfactory as a general tool. After a critical review of the main advantages and drawbacks of each notation, the paper defines and discusses the major characteristics of a new angular convention that has recently been proposed. The known results are summarized in a clear and systematic way and the analysis is extended to the analysis of the angular velocity and acceleration.