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.
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Smooth movement of a rigid body in space orientations.pdf