Quaternions and dynamics
Quaternions and dynamics
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发表时间：
2008-11
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通讯作者：
B. Graf
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作者：
B. Graf
我们对四个季度及其在动态中的实际用法进行简单且自我包含的介绍。刚体动态详细介绍。在附录中，给出了一些更奇特的关系，这些关系允许编写更复杂的模型，例如，是带有惯性轮的卫星之一，并在非惯性参考框架中表达。众所周知，除了通常的论点外，四季度比欧拉角的优势是，它允许手工完全写下相当复杂的动态。
We give a simple and self contained introduction to quaternions and their practical usage in dynamics. The rigid body dynamics are presented in full details. In the appendix, some more exotic relations are given that allow to write more complex models, for instance, the one of a satellite with inertial wheels and expressed in a non-inertial reference frame. As it is well known, one nice advantage of quaternions over Euler angles, beside the usual arguments, is that it allows to write down quite complex dynamics completely by hand.