Rigid body dynamics in terms of quaternions: Hamiltonian formulation and conserving numerical integration

Published 2009 View Full Article

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Title
Rigid body dynamics in terms of quaternions: Hamiltonian formulation and conserving numerical integration
Authors
Keywords
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Journal
INTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN ENGINEERING
Volume 79, Issue 4, Pages 444-473
Publisher
Wiley
Online
2009-03-12
DOI
10.1002/nme.2586

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