NASA NTRS · 19680046120
Kinematical equations for bodies whose rotation is described by the Euler-Rodrigues parameter.
Abstract
Matrix form of kinematical differential equations for rotating bodies described by Euler-Rodrigues parameter, deriving time derivatives
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Roberson, R. E.. 1968-05-01. Kinematical equations for bodies whose rotation is described by the Euler-Rodrigues parameter.. https://ntrs.nasa.gov/citations/19680046120
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