An Effective Rigid Body Math Model: A Synopsis For The Practitioner
lulu.com
ISBN13:
9781387907946
$33.86
This technical brief summarizes an elegant algebraic description of rigid body position and attitude along with analytical derivatives associated with body motions. The equations presented here offer a fully general representation that is entirely singularity-free. The expressions capture all six degrees of freedom associated to a physical body within a math model containing exactly six free parameters based on the exponential map. A particularly pragmatic benefit is that the math model and all of its parameters have direct associations with physical characteristics that can be observed and/or measured directly by physical instrumentation and sensor systems. The expressions describing body position and attitude are necessarily non-linear, but have relatively simple forms on which simple numerical solution methods are exceptionally effective.
- | Author: Dave Knopp
- | Publisher: Lulu.com
- | Publication Date: Jun 01, 2022
- | Number of Pages: 108 pages
- | Language: English
- | Binding: Paperback
- | ISBN-10: 1387907948
- | ISBN-13: 9781387907946
- Author:
- Dave Knopp
- Publisher:
- Lulu.com
- Publication Date:
- Jun 01, 2022
- Number of pages:
- 108 pages
- Language:
- English
- Binding:
- Paperback
- ISBN-10:
- 1387907948
- ISBN-13:
- 9781387907946