Mityushov E. A., Misyura N.E., Berestova S.A.. Smooth movement of a rigid body in orientational space along the shortest path through the uniform lattice of the points on So(3)
Submitted on: Feb 14, 2017, 06:14:43
Natural Sciences / Mathematics / Dynamical systems
Description: We give a constructive solution for the smooth movement of a rigid body in orientational space along the shortest path. Spherical solid body motion is associated with the movement of the point on the hypersphere in four-dimensional space along the arcs of large radius through the vertices of regular four-dimensional polytope. Smooth motion is provided by a choice of special nonlinear function of quaternion interpolation. For an analytical presentation of the law of continuous movement used the original algebraic representation of the Heaviside function.
The abstract of this article will be published in the February 2017 issue of "Intellectual Archive Bulletin", ISSN 1929-1329.
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Smooth movement of a rigid body in space orientations.pdf