2008/11/18 by Basile Graf, Graf, Basile · 3 citations
Engineering · #97-01 #Control and Dynamics of Mobile Robots #Dynamical Systems (math.DS) #Dynamics and Control of Mechanical Systems #FOS: Mathematics #FOS: Physical sciences #Mathematical Physics (math-ph) #Robotic Mechanisms and Dynamics
paper · pdf · doi:10.48550/arxiv.0811.2889
openalex publication_date 2008/11/18 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.