Technical Briefs

An Alternative Derivation of the Quaternion Equations of Motion for Rigid-Body Rotational Dynamics

[+] Author and Article Information
Firdaus E. Udwadia

Departments of Aerospace and Mechanical Engineering, Civil Engineering, Mathematics, and Information and Operations Management, University of Southern California, 430K Olin Hall, Los Angeles, CA 90089-1453fudwadia@usc.edu

Aaron D. Schutte

Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA 90089-1453schutte@usc.edu

J. Appl. Mech 77(4), 044505 (Apr 12, 2010) (4 pages) doi:10.1115/1.4000917 History: Received June 01, 2009; Revised October 22, 2009; Published April 12, 2010; Online April 12, 2010

This note provides a direct method for obtaining Lagrange’s equations describing the rotational motion of a rigid body in terms of quaternions by using the so-called fundamental equation of constrained motion.

Copyright © 2010 by American Society of Mechanical Engineers
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