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Kinematika i dinamika sistema krutih tela u kvaternionskoj formi - Lagranževa formulacija u kovarijantnom obliku - Rodrigov pristup
Multi-body kinematics and dynamics in terms of quaternions: Langrange formulation in covariant form: Rodriguez approach
dc.creator | Zorić, Nemanja | |
dc.creator | Lazarević, Mihailo | |
dc.creator | Simonović, Aleksandar | |
dc.date.accessioned | 2022-09-19T16:25:25Z | |
dc.date.available | 2022-09-19T16:25:25Z | |
dc.date.issued | 2010 | |
dc.identifier.issn | 1451-2092 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/1028 | |
dc.description.abstract | U ovom radu se predlaže kvaternionski pristup za modeliranje kinematike i dinamike sistema krutih tela. Umesto regularnog 'Njutn-Ojlerovog' i Lagranževog metoda korišćenog na tradicionalan način, upotrebljavaju se Lagranževe jednačine druge vrste u kovarijantnom obliku primenom Rodrigovog pristupa i kvaternionske algebre. Dobijen je model sistema od n krutih tela u kvaternionskoj formi koji je koristan za proučavanje kinematike, dinamike sistema za opšti slučaj kretanja, kao i za sintezu sistema upravljanja. | sr |
dc.description.abstract | This paper suggests a quaternion approach for the modeling kinematics and dynamics of rigid multi-body systems. Instead of the regular 'Newton-Euler' and Lagrange method used in the traditional way, Lagrange's equations of second kind in the covariant form are used by applying Rodriguez approach and quaternion algebra. A model of multi-body system of n rigid bodies in terms of quaternions is obtained, which is useful for studying kinematics, dynamics as well as for research of control system designs. | en |
dc.publisher | Univerzitet u Beogradu - Mašinski fakultet, Beograd | |
dc.relation | info:eu-repo/grantAgreement/MESTD/MPN2006-2010/20152/RS// | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | FME Transactions | |
dc.subject | rotation | en |
dc.subject | rigid bodies system | en |
dc.subject | quaternions | en |
dc.title | Kinematika i dinamika sistema krutih tela u kvaternionskoj formi - Lagranževa formulacija u kovarijantnom obliku - Rodrigov pristup | sr |
dc.title | Multi-body kinematics and dynamics in terms of quaternions: Langrange formulation in covariant form: Rodriguez approach | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 28 | |
dc.citation.issue | 1 | |
dc.citation.other | 38(1): 19-28 | |
dc.citation.rank | M51 | |
dc.citation.spage | 19 | |
dc.citation.volume | 38 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/15/1025.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_1028 | |
dc.identifier.scopus | 2-s2.0-84876977292 | |
dc.type.version | publishedVersion |