An Effective Rigid Body Math Model: A Synopsis for the Practitioner (Paperback) (ISBN-13: 9781387907946)

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
ISBN-10: 1387907948
ISBN-13: 9781387907946
Publisher: Lulu.com
Language: English
Published: 06/01/2022
Pages: 110
Format: Paperback
Weight: 0.35lbs
Size: 9.00h x 6.00w x 0.23d