On Singularity of Rigid-Body Dynamics Using Quaternion-Based Models
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The Body
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It is well known that use of quaternions in dynamic modeling of rigid bodies can avoid the singularity due to Euler rotations. This paper shows that the dynamic response of a rigid body modeled by quaternions may become unbounded when a torque is applied to the body. A theorem is derived, relating the singularity to the axes of the rotation and applied torque, and to the degrees of freedom of the body in rotation. To avoid such singularity, a method of equivalent couples is proposed.
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2015 ◽
Vol 54
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pp. 17-26
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Keyword(s):
2003 ◽
Vol 217
(4)
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pp. 285-298
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1985 ◽
Vol 107
(2)
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pp. 301-311
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2015 ◽
Vol 31
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pp. 40-50
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2011 ◽
Vol 2011
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pp. 1-26
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