EULER PARAMETERS IN COMPUTATIONAL KINEMATICS AND DYNAMICS. PART 1 AND PART 2.

Parviz E Nikravesh, R. A. Wehage, O. K. Kwon

Research output: Chapter in Book/Report/Conference proceedingChapter

55 Citations (Scopus)

Abstract

Part I of this paper presents useful and interesting identities between Euler parameters and their time derivatives. Using these identities, kinematic constraints and equations of motion for constrained mechanical systems are derived. These equations can be developed into a computer program to systematically generate all of the necessary equations to model mechanical systems. Part II represents a methodology for formulating kinematic constraint equations and equations of motion for constrained mechanical systems. An algorithm for solving the constrained equations of motion using a constraint stabilization technique is reviewed. Significant reduction in computation time can be achieved with this formulation and the accompanying algorithm as compared with the method presented in Part I.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
Pages358-369 jmtddk
Edition3
StatePublished - Sep 1985

Fingerprint

Equations of motion
Kinematics
Computer program listings
Stabilization
Derivatives

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nikravesh, P. E., Wehage, R. A., & Kwon, O. K. (1985). EULER PARAMETERS IN COMPUTATIONAL KINEMATICS AND DYNAMICS. PART 1 AND PART 2. In Unknown Host Publication Title (3 ed., pp. 358-369 jmtddk)

EULER PARAMETERS IN COMPUTATIONAL KINEMATICS AND DYNAMICS. PART 1 AND PART 2. / Nikravesh, Parviz E; Wehage, R. A.; Kwon, O. K.

Unknown Host Publication Title. 3. ed. 1985. p. 358-369 jmtddk.

Research output: Chapter in Book/Report/Conference proceedingChapter

Nikravesh, PE, Wehage, RA & Kwon, OK 1985, EULER PARAMETERS IN COMPUTATIONAL KINEMATICS AND DYNAMICS. PART 1 AND PART 2. in Unknown Host Publication Title. 3 edn, pp. 358-369 jmtddk.
Nikravesh PE, Wehage RA, Kwon OK. EULER PARAMETERS IN COMPUTATIONAL KINEMATICS AND DYNAMICS. PART 1 AND PART 2. In Unknown Host Publication Title. 3 ed. 1985. p. 358-369 jmtddk
Nikravesh, Parviz E ; Wehage, R. A. ; Kwon, O. K. / EULER PARAMETERS IN COMPUTATIONAL KINEMATICS AND DYNAMICS. PART 1 AND PART 2. Unknown Host Publication Title. 3. ed. 1985. pp. 358-369 jmtddk
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