ABSTRACT
Hamilton’s quaternions exhibit a typical algebraic method for defining operations on symbols to describe geometry. A quaternion can be regarded as a combination of a scalar and a vector, and the quaternion product can be viewed as simultaneous computation of the inner product and the vector product. Furthermore, division can be defined for quaternions. This chapter explains the mathematical structure of the set of quaternions and shows how quaternions are suitable for describing 3D rotations. Also, various mathematical facts related to rotations are given.
