T - IfB
T - IfB
T - IfB
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QuaternionsStrategy: Calculate torque T(t) in body-frame,from it obtain ω b (t+Δt) and from there q i (t+Δt).One can also insert torque directly into theequation of motion of the quaternions getting asecond order differential equation and avoidingto calculate ω (some times simpler).913d exampleSpace-fillingbearing92
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