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Hamilton's Equations With Euler Parameters for Rigid Body Dynamics Modeling

Ravishankar, Shivarama, Auteur ; Fahrenthold, Eric P., Auteur |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 126 N° 1, Mars 2004)

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 singularitie[...]

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