On the Numerical Violation of the Mathematical Constraint when using Unit Quaternions as Orientation Parametrization in Multibody Systems

Research output: Contribution to conferenceAbstract


Multibody systems composed by interconnected bodies incorporate constraints, either coming from the explicit formulation of kinematic joints or resulting from the parametrization of the orientation of the bodies by dependent coordinates, e.g., Euler parameters as a special choice of quaternions. Since the four Euler parameters are over-determined for the three degrees of freedom for the rotation of a body, a mathematical constraint has to be satisfied. This means that the unit length constraint is enforced explicitly by means of an algebraic constraint. The problem of numerical violation of such mathematical constraints concerning Euler parameterization is discussed within the present work.
Original languageEnglish
Publication statusPublished - 2016
EventThe 4th Joint International Conference on Multibody System Dynamics - Montreal, Canada
Duration: 29 May 20162 Jun 2016


ConferenceThe 4th Joint International Conference on Multibody System Dynamics
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