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기술보고서

기술보고서 게시판 내용
타이틀	Quaternion and Euler Angles in Kinematics
저자	Isao YAMAGUCHI, Takashi KIDA, Osamu OKAMOTO, Yoshiaki OOKAMI
Keyword	Kinematics; Quaternion; Euler Angles; Direction Cosine Matrix (DCM) ; Orientation; Rigid body Dynamics
URL	http://send.nal.go.jp/send/jpn/dlpdf.php3/naltm00636.pdf?id=NALTM0000636
보고서번호	NAL TM-636
발행년도	1991.6
출처	NAL (National Aerospace Laboratory of Japan)
ABSTRACT	A summary of quaternion in the kinematics of rigid body dynamics is presented. Quaternion is a four-parameter system for specifying the orientation of a rigid body. Four parameters of quaternion are updated by integrating linear differential equations whose coefficients are the angular velocity of the body. After describing the coordinate systems