论文部分内容阅读
欧拉参数是规范四元数。在多刚体系统运动学及动力学分析中,日益广泛地采用欧拉参数来描述系统中刚体对于惯性参考系的绝对方位。而系统中两邻接刚体的相对方位如何描述,是目前正在探讨的问题之一。本文试图利用四元数方法来推导确定多刚体系统中邻接刚体相对方位的相对欧拉参数。为多刚体系统的运动学及动力学分析提供一种数学工具。
Euler parameter is the standard quaternion. In multi-body system kinematics and dynamics analysis, Euler parameters are increasingly used to describe the absolute orientation of a rigid body to an inertial frame of reference in a system. However, how to describe the relative orientation of two adjacent rigid bodies in the system is one of the problems currently under discussion. This paper attempts to use the quaternion method to derive the relative Euler parameters that determine the relative orientation of adjacent rigid bodies in a multi-rigid body system. It provides a mathematical tool for the kinematics and dynamics analysis of multi-body system.