A combination of Euler parameter kinematics and Hamiltonian mechanics provides a rigid body dynamics model well suited for use in strongly nonlinear problems involving arbitrarily large rotations. The model is unconstrained, free of singularities, includes a general potential energy function and a minimum set of momentum variables, and takes an explicit state space form convenient for numerical implementation. The general formulation may be specialized to address particular applications, as illustrated in several three dimensional example problems.
Hamilton’s Equations With Euler Parameters for Rigid Body Dynamics Modeling
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division August 1, 2002; final revision, August 21, 2003. Associate Editor: Y. Hurmuzlu.
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Shivarama , R., and Fahrenthold, E. P. (April 12, 2004). "Hamilton’s Equations With Euler Parameters for Rigid Body Dynamics Modeling ." ASME. J. Dyn. Sys., Meas., Control. March 2004; 126(1): 124–130. https://doi.org/10.1115/1.1649977
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