Euler parameters in computational kinematics and dynamics. Part 2

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

Research output: Contribution to journalArticlepeer-review

23 Scopus citations


In this paper a methodology for formulating kinematic constraint equations and equations of motion for constrained mechanical systems is presented. Constraint equations and transformation matrices are expressed in terms of Euler parameters. The kinematic velocity and acceleration equations, and the equations of motion are expressed in terms of physical angular velocity of the bodies. An algorithm for solvingthe constrained equations of motion using a constraint stabilization technique is reviewed. Significant reduction in computation time can beachieved with this formulation and the accompanying algorithm as compared with the method presented in Part 1.

Original languageEnglish (US)
Pages (from-to)366-369
Number of pages4
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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