What is it about?
The main goal of this research is the development of a new parametrization technique for the motion of rigid bodies. For the first time, a complete parameterization framework is constructed, which gives the possibility of developing unitary direct solutions for computation of the main motion kinematic representation entities
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Why is it important?
An important contribution of our research is a new solution to the dual form of the classical Darboux problem. To the author's knowledge, until now a similar approach has not been reported in the literature. In the end, we gave a set of recovering solutions for the dual Euler-Rodrigues parameters, the dual Rodrigues vector, the Wiener-Milenkovic parameters, and the unit dual quaternion.
Perspectives
Spacecraft formation flying, rendezvous operations or distributed spacecraft missions are some of the especially important applications which make use of the solutions for the relative orbital problem. Regarding other applications, new results obtained in robotics, machine vision, biomechanics, relative orbital motion, or neuroscience underline the importance of having a complete rigid-body parameterization framework. An important set of applications is the one related to control, which seems to make the most use of the rigid body motion parameterization techniques.
Prof. Daniel Condurache
Gheorghe Asachi Technical University of Iasi
Read the Original
This page is a summary of: Dual Lie Algebra Representations of the Rigid Body Motion, August 2014, American Institute of Aeronautics and Astronautics (AIAA),
DOI: 10.2514/6.2014-4347.
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