Multi-body kinematics and dynamics in terms of quaternions: Langrange formulation in covariant form: Rodriguez approach

Autor:	Zorić Nemanja D., Lazarević Mihailo P., Simonović Aleksandar M.
Jazyk:	angličtina
Rok vydání:	2010
Předmět:	quaternions rotation rigid bodies system Engineering (General). Civil engineering (General) TA1-2040 Mechanics of engineering. Applied mechanics TA349-359
Zdroj:	FME Transactions, Vol 38, Iss 1, Pp 19-28 (2010)
Druh dokumentu:	article
ISSN:	1451-2092 2406-128X
Popis:	This paper suggests a quaternion approach for the modeling kinematics and dynamics of rigid multi-body systems. Instead of the regular 'Newton-Euler' and Lagrange method used in the traditional way, Lagrange's equations of second kind in the covariant form are used by applying Rodriguez approach and quaternion algebra. A model of multi-body system of n rigid bodies in terms of quaternions is obtained, which is useful for studying kinematics, dynamics as well as for research of control system designs.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/ec6c209e383c4eeca2f6bb4daa06fbdc Zobrazit plný text záznamu View record in DOAJ