Euler parameters in computational kinematics and dynamics. Part 1

P. E. Nikravesh, R. A. Wehage, O. K. Kwon

Research output: Contribution to journalArticlepeer-review

23 Scopus citations


This paper presents useful and interesting identities between Euler parameters and their time derivatives. Using these identities, kinematic constraints and equations of motion for constrained mechanical systems are derived. These equations can be developed into a computer program to systematically generate all of the necessary equations to model mechanical systems. The compact form of these equations makes it possible to develop a general-purpose computer program for dynamic analysis of mechanical systems suitable for operation on small computers with limited memory space.

Original languageEnglish (US)
Pages (from-to)358-365
Number of pages8
JournalJournal of Mechanical Design, Transactions of the ASME
Issue number3
StatePublished - Sep 1985

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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