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A note on the computation of the Euler parameters
Linköping University, The Institute of Technology. Linköping University, Department of Management and Engineering, Mechanics .
2001 (English)In: Journal of Dynamic Systems Measurement, and Control, ISSN 0022-0434, Vol. 123, no 4, 719-722 p.Article in journal (Refereed) Published
Abstract [en]

This paper is concerned with the integration of the differential equations for the Euler parameters, for the purpose of describing the orientation of a rigid body. This can be done using standard methods, but in some cases, such as in the presence of impulsive forces, the angular velocities are not continuous and methods based on high order continuity are not appropriate. In this paper the use of the closed-form solution for piecewise constant angular velocity as the basis for a computational algorithm is studied. It is seen that if this solution is implemented in a leapfrog manner a method with second-order accuracy is obtained in the smooth case, while this method also makes sense in the discontinuous case.

Place, publisher, year, edition, pages
2001. Vol. 123, no 4, 719-722 p.
National Category
Engineering and Technology
URN: urn:nbn:se:liu:diva-49034OAI: diva2:269930
Available from: 2009-10-11 Created: 2009-10-11 Last updated: 2011-01-13

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