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Euler Parameters: Reading Material: Chapter 6
Euler Parameters: Reading Material: Chapter 6
2005/5/24 計算動力學 1
e0
e
e ee00 :: angle
angle of
of rotation
rotation
p = 1 = 0 ee :: an
an unit
unit vector
vector along
along the
the axis
axis of
of rotation
e2 e
rotation
e3 4×1
2005/5/24 計算動力學 2
2005/5/24 計算動力學 3
(Review)
The
The configuration
configuration of
of the
the body
body axes
axes w.r.t
w.r.t the
the global
global axes
axes (pure
(pure rotation)
rotation)
M11 = 1
M 22 = 1
M 33 = 1
M12 = M 21 = (i 2 • i1 )(i 2 • j1 ) + ( j2 • i1 )( j2 • j1 ) + (k 2 • i1 )(k 2 • j1 ) = 0
M13 = M 31 = 0
M 23 = M 32 = 0
e0
e
e
p = 1 = 0
e2 e
e3 4×1
2005/5/24 計算動力學 6
NP '
NQ = m cos φ = NP ' cos φ
NP '
r r
u × s' r r
QP = m sin φ r r = u × s ' sin φ
u × s'
幾何
向量
代數 θ
矩陣
radius m=s’sinθ=| u×s’ |=NP’
2005/5/24 計算動力學 7
s = As '
• Thus, matrix A can be easily determined from specified
Quaternion/Euler parameters
φ
cos 2
e0 φ φ
e
e cos u x sin
p= = =
1 0 2 =
2
e2 e u sin φ u y sin φ
2 2
e3 4×1 φ
2005/5/24 計算動力學 u z sin 8
2
• Any vector lying along the rotation axis must have the same
components in both initial and final coordinate systems (e lies
along the rotation axis) e 0
e
e
p = 1 = 0
e2 e
e
3 4×1
2005/5/24 計算動力學 9
Determine
Determine Euler
Euler Parameters
Parameters from
from Rotation Matrix A
Rotation Matrix
• Define:
2005/5/24 計算動力學 10
• If e0 ≠0, then
Example:
Example: Determine
Determine Euler
Euler Parameters
Parameters from
from Rotation
Rotation Matrix
Matrix A (e00 ≠0)
A (e ≠0)
2005/5/24 計算動力學 12
similarly,
2005/5/24 計算動力學 13
Example:
Example: Determine
Determine Euler
Euler Parameters
Parameters from
from Rotation
Rotation Matrix
Matrix A
A (e
(e00 =0)
=0)
2005/5/24 計算動力學 14
• Define
Gp = 0 = pT G T
GTG=LTL=-ppT+I* (6.46)
A=GLT (6.49)
dA/dt=2(dG /dt)LT (6.56)
2005/5/24 計算動力學 15
2005/5/24 計算動力學 16
s = As '
& =?
A
2005/5/24 計算動力學 17
∴Ω is a skew-symmetric matrix,
and we can assume that
0 − ω3 ω2
Ω = ω3 0 − ω1 = ω
~
− ω 2 ω1 0
A ( A T ΩT A + A T Ω A ) A T = 0 ~A
& =ω
∴A
& s 'P
s& P = A A ~A
& =ω
s P = As 'P
∴Any vector s attached to the local coordinate system can be
written as
~ s ⇔ rs& = ω × rs
s& = ω
Thus, ω is the angular velocity of the
moving body
2005/5/24 計算動力學 19
~ sP
s& P = ω
2005/5/24 計算動力學 20
~
& (−ppT + I)G T = ω
2G
Gp = 0 = pT G T
2005/5/24 計算動力學 21
Express
Express Angular
Angular Velocity
Velocity in
in terms
terms of
of Quaternion
Quaternion and
and Its
Its Time
Time
Derivative
Derivative (P.175)
(P.175)
2005/5/24 計算動力學 22
1 1 T '
p& = G T ω p& = Lω
2 2
− e1 − e2 − e3 − e1 − e2 − e3
ω x ωξ
1 e e3 − e2
1 e − e3 e2
= 0 ωy = 0 ωη
2 − e3 e0 e1
2 e3 e0 − e1
ωz
ω
e0 4×3 3×1 e0 4×3 3×1
ζ
e2 − e1 −
2 e1
e
2005/5/24 計算動力學 23