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Published in:
2015 | OriginalPaper | Chapter
6. Vector of Coordinates, Velocities and Accelerations
Author : Paulo Flores
Published in: Concepts and Formulations for Spatial Multibody Dynamics
Publisher: Springer International Publishing
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Abstract
This chapter describes the how the vector of coordinates are defined in the formulation of spatial multibody systems. For this purpose, the translational motion is described in terms of Cartesian coordinates, while rotational motion is specified using the technique of Euler parameters. This approach avoids the computational difficulties associated with the singularities in the case of using Euler angles or Bryant angles. Moreover, the formulation of the velocities vector and accelerations vector is presented and analyzed here. These two sets of vectors are defined in terms of translational and rotational coordinates.