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An Effective Rigid Body Math Model

A Synopsis for the Practitioner

ByDave Knopp

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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.

Details

Publication Date
Jun 1, 2022
Language
English
ISBN
9781387907946
Category
Engineering
Copyright
All Rights Reserved - Standard Copyright License
Contributors
By (author): Dave Knopp

Specifications

Pages
108
Binding
Paperback
Interior Color
Black & White
Dimensions
US Trade (6 x 9 in / 152 x 229 mm)

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