Affiliation:
1. Division of Mechanics, Department of Mechanical Engineering, Linko¨ping University, SE-581 83 Linko¨ping, Sweden
Abstract
This paper is concerned with the integration of the differential equations for the Euler parameters, for the purpose of describing the orientation of a rigid body. This can be done using standard methods, but in some cases, such as in the presence of impulsive forces, the angular velocities are not continuous and methods based on high order continuity are not appropriate. In this paper, the use of the closed-form solution for piecewise constant angular velocity as the basis for a computational algorithm is studied. It is seen that if this solution is implemented in a leapfrog manner a method with second-order accuracy is obtained in the smooth case, while this method also makes sense in the discontinuous case.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference14 articles.
1. Wittenburg, J., 1977, Dynamics of Systems of Rigid Bodies, Teubner, Stuttgart.
2. Johansson, L., and Klarbring, A., 2000, “Study of Frictional Impact Using a Non-Smooth Equations Solver,” ASME J. Appl. Mech., 67, pp. 267–273.
3. Johansson, L.
, 1999, “A Linear Complementarity Algorithm for Rigid Body Impact with Friction,” European Journal of Mechanics,18, pp. 703–717.
4. Johansson, L., “A Newton Method for Rigid Body Frictional Impact with Multiple Simultaneous Impact Points,” Comput. Methods Appl. Mech. Eng., to appear.
5. Whitmore, S. A., Fife, M., and Logan, B., 1997, “Development of a Closed-Loop Strap Down Attitude System for an Ultralight Altitude Flight Experiment,” NASA Technical Memorandum 4775.
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献