Related papers: Quaternions and dynamics
The algebra of fourvectors is described. The fourvectors are more appropriate than the Hamilton quaternions for its use in Physics and the sciences in general. The fourvectors embrace the 3D vectors in a natural form. It is shown the…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
In the past, Kepler painstakingly derived laws of planetary motion using difficult to understand and hard to follow techniques. In 1843 William Hamilton created and described the quaternions, which extend the complex numbers and can easily…
Experimentalists now measure intense rotations of Lagrangian particles in turbulent flows by tracking their trajectories and Lagrangian-average velocity gradients at high Reynolds numbers. This paper formulates the dynamics of an…
Discussed is mechanics of objects with internal degrees of freedom in generally non-Euclidean spaces. Geometric peculiarities of the model are investigated detailly. Discussed are also possible mechanical applications, e.g., in dynamics of…
We present a theoretical and numerical framework to compute bifurcations of equilibria and stability of slender elastic rods. The 3D kinematics of the rod is treated in a geometrically exact way by parameterizing the position of the…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
A modified Gibbs's rotation matrix is derived and the connection with the Euler angles, quaternions, and Cayley$-$Klein parameters is established. As particular cases, the Rodrigues and Gibbs parameterizations of the rotation are obtained.…
This paper provides a detailed description of various reduction schemes in rigid body dynamics. Analysis of one of such nontrivial reductions makes it possible to order the cases already found and to obtain new generalizations of the…
Dual quaternion algebra and its application to robotics have gained considerable interest in the last two decades. Dual quaternions have great geometric appeal and easily capture physical phenomena inside an algebraic framework that is…
The paper aims to adopt the complex quaternion and octonion to formulate the field equations for electromagnetic and gravitational fields. Applying the octonionic representation enables one single definition to combine some physics contents…
This paper shows how to write Maxwell's Equations in Hamilton's Quaternions. The fact that the quaternion product is non-commuting leads to distinct left and right derivatives which must both be included in the theory. A new field component…
In this article one introduces a formalism of classical mechanics where complex Lagrangian functions are admitted. The results include complex versions of the Lagrangian function, of the Euler-Lagrange equation, of the Hamilton principle, a…
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…
The paper aims to adopt the complex octonion to formulate the angular momentum, torque, and force etc in the electromagnetic and gravitational fields. Applying the octonionic representation enables one single definition of angular momentum…
This paper establishes the basis of the quaternionic differential geometry ($\mathbbm H$DG) initiated in a previous article. The usual concepts of curves and surfaces are generalized to quaternionic constraints, as well as the curvature and…
The quaternion spaces can be used to describe the property of electromagnetic field and gravitational field. In the quaternion space, some coordinate transformations can be deduced from the feature of quaternions, including Lorentz…
The Poisson structure in the quaternion variables was proposed for asymmetric top in the external axially symmetric magnetic field. For that model of interaction the motion equation were got. The model was simulated in the neighbourhood of…
We reformulate Special Relativity by a quaternionic algebra on reals. Using {\em real linear quaternions}, we show that previous difficulties, concerning the appropriate transformations on the $3+1$ space-time, may be overcome. This implies…
Quaternion analysis is considered in full details where a new analyticity condition in complete analogy to complex analysis is found. The extension to octonions is also worked out.