Open Daily: 10am - 10pm | Alley door pickup 10am - 7pm 3038 Hennepin Ave Minneapolis, MN
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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
An Effective Rigid Body Math Model: A Synopsis for the Practitioner

An Effective Rigid Body Math Model: A Synopsis for the Practitioner

Knopp, Dave

Paperback

Technology & Engineering

ISBN10: 1387907948
ISBN13: 9781387907946
Publisher: Lulu Pr
Published: Jun 1 2022
Pages: 110
Weight: 0.35
Height: 0.23 Width: 6.00 Depth: 9.00
Language: English
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.

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