Abstract
A summary of quaternion in the kinematics of rigid body dynamics, particularly for an aeroplane or an artificial satellite, is presented. Quaternion is a four-parameter system for specifying the orientation of a rigid body, and applied to evade singular points of differential equations in kinematics. In this paper, after the coordinate systems and vectors are defined, quaternion is introduced. Then, characteristics in a typical representation of body orientation by quaternion, relationships between quaternion and direction cosine matrixes, and constitution of differential quaternion equations by angular velocity vectors are discussed, with consideration to computer simulation algorithm and in comparison with the conventional representation by Euler angles. Finally, derivation of equations of motion is shown by using quaternion to express the kinematics of a rigid body. 6 refs., 6 figs., 4 tabs.
Citation Formats
Yamaguchi, I, Kida, T, Okamoto, O, and Okami, Y.
Quaternion and euler angles in kinematics; Quaternion to oira kaku ni yoru kinematics hyogen no hikaku ni tsuite.
Japan: N. p.,
1991.
Web.
Yamaguchi, I, Kida, T, Okamoto, O, & Okami, Y.
Quaternion and euler angles in kinematics; Quaternion to oira kaku ni yoru kinematics hyogen no hikaku ni tsuite.
Japan.
Yamaguchi, I, Kida, T, Okamoto, O, and Okami, Y.
1991.
"Quaternion and euler angles in kinematics; Quaternion to oira kaku ni yoru kinematics hyogen no hikaku ni tsuite."
Japan.
@misc{etde_10149790,
title = {Quaternion and euler angles in kinematics; Quaternion to oira kaku ni yoru kinematics hyogen no hikaku ni tsuite}
author = {Yamaguchi, I, Kida, T, Okamoto, O, and Okami, Y}
abstractNote = {A summary of quaternion in the kinematics of rigid body dynamics, particularly for an aeroplane or an artificial satellite, is presented. Quaternion is a four-parameter system for specifying the orientation of a rigid body, and applied to evade singular points of differential equations in kinematics. In this paper, after the coordinate systems and vectors are defined, quaternion is introduced. Then, characteristics in a typical representation of body orientation by quaternion, relationships between quaternion and direction cosine matrixes, and constitution of differential quaternion equations by angular velocity vectors are discussed, with consideration to computer simulation algorithm and in comparison with the conventional representation by Euler angles. Finally, derivation of equations of motion is shown by using quaternion to express the kinematics of a rigid body. 6 refs., 6 figs., 4 tabs.}
place = {Japan}
year = {1991}
month = {Jun}
}
title = {Quaternion and euler angles in kinematics; Quaternion to oira kaku ni yoru kinematics hyogen no hikaku ni tsuite}
author = {Yamaguchi, I, Kida, T, Okamoto, O, and Okami, Y}
abstractNote = {A summary of quaternion in the kinematics of rigid body dynamics, particularly for an aeroplane or an artificial satellite, is presented. Quaternion is a four-parameter system for specifying the orientation of a rigid body, and applied to evade singular points of differential equations in kinematics. In this paper, after the coordinate systems and vectors are defined, quaternion is introduced. Then, characteristics in a typical representation of body orientation by quaternion, relationships between quaternion and direction cosine matrixes, and constitution of differential quaternion equations by angular velocity vectors are discussed, with consideration to computer simulation algorithm and in comparison with the conventional representation by Euler angles. Finally, derivation of equations of motion is shown by using quaternion to express the kinematics of a rigid body. 6 refs., 6 figs., 4 tabs.}
place = {Japan}
year = {1991}
month = {Jun}
}