Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations

DOI10.1007/s11044-016-9518-7zbMath1386.70009OpenAlexW2321157520MaRDI QIDQ2361338

Dario Zlatar, Zdravko Terze, Andreas Müller

Publication date: 30 June 2017

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-016-9518-7

zbMATH Keywords

Lie groupsspatial rotationstime integration schemesrotational quaternionsspecial orthogonal group SO(3)integration of quaternionsspecial unitary group SU(2)symplectic group Sp(1)

Mathematics Subject Classification ID

Free motion of a rigid body (70E15) Numerical methods for differential-algebraic equations (65L80)

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