GENERALIZED EULER EQUATIONS FOR LINKED RIGID BODIES

Authors
KNELLER GR HINSEN K
Citation
Gr. Kneller et K. Hinsen, GENERALIZED EULER EQUATIONS FOR LINKED RIGID BODIES, Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics, 50(2), 1994, pp. 1559-1564
Citations number
13
Categorie Soggetti
Physycs, Mathematical","Phsycs, Fluid & Plasmas
Journal title
Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics → ACNP
ISSN journal
1063651X
Volume
50
Issue
2
Year of publication
1994
Part
B
Pages
1559 - 1564
Database
ISI
SICI code
1063-651X(1994)50:2<1559:GEEFLR>2.0.ZU;2-K
Abstract
We derive the equations of motion for linked rigid bodies from Lagrang e mechanics and from Gauss's principle of least constraint. The rotati onal motion of the subunits is described in terms of quaternion parame ters and angular velocities. Different types of joints can be incorpor ated via axis constraints for the angular velocities. The resulting eq uations of motion are generalizations of the Euler equations of motion for a single rotor.