Alpatov A, Kravets V, Kravets V, Lapkhanov E. Representation of the kinematics of the natural trihedral of a spiral-helix trajectory by quaternion matrices . TECS [Internet]. 2021 Jul. 29 [cited 2026 May 6];9(4):18-29. Available from: https://scholarpublishing.org/journals/index.php/TECS/article/view/2207