Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations

A novel ODE time stepping scheme for solving rotational kinematics in terms of unit quaternions is presented in the paper. This scheme inherently respects the unit-length condition without including it explicitly as a constraint equation, as it is common practice. In the standard algorithms, the uni...

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Bibliographic Details
Published in:	Multibody system dynamics Vol. 38; no. 3; pp. 201 - 225
Main Authors:	Terze, Zdravko, Müller, Andreas, Zlatar, Dario
Format:	Journal Article
Language:	English
Published:	Dordrecht Springer Netherlands 01.11.2016 Springer Nature B.V
Subjects:	Algorithms Automotive Engineering Control Differential equations Dynamical Systems Electrical Engineering Engineering Kinematics Lie groups Mechanical Engineering Numerical integration Optimization Ordinary differential equations Quaternions Rotation Singularity (mathematics) Time integration Vibration Time integration schemes Special orthogonal group Lie groups Rotational quaternions Symplectic group Integration of quaternions Special unitary group Spatial rotations
ISSN:	1384-5640, 1573-272X
Online Access:	Get full text
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