INVOLUTIONS IN SEMI-QUATERNIONS

Involutions are self-inverse and homomorphic linear mappings. Rotations, reflections and rigid-body (screw) motions in three-dimensional Euclidean space R-3 can be represented by involution mappings obtained by quaternions. For example, a reflection of a vector in a plane can be represented by an involution mapping obtained by real-quaternions, while a reflection of a line about a line can be represented by an involution mapping obtained by dual-quaternions. In this paper, we will consider two involution mappings obtained by semi-quternions, and a geometric interpretation of each as a planar-motion in R-3.