Addenda to “On Singularity of Rigid-Body Dynamics Using Quaternion-Based Models”
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Although quaternions are singularity-free in modeling and analysis of rigid bodies in three-dimensional motion, description of torques may lead to unbounded response of a quaternion-based model. This paper gives theorems on the conditions of torque-induced singularity in four coordinate systems: inertial frame, body frame, Euler basis, and dual Euler basis. According to the theorems, torques applied in an inertial frame or a body frame or a Euler basis will never cause unbounded motion; torques applied in a dual Euler basis, however, may lead to unbounded motion.
2004 ◽
Vol 126
(1)
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pp. 124-130
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2012 ◽
Vol 27
(4)
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pp. 423-435
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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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