20.500.12556/RUL-32177 Integrating rotation from angular velocity Abstract The integration of the rotation from a given angular velocity is often required in practice. The present paper explores how the choice of the parametrization of rotation, when employed in conjuction with different numerical time-integration schemes, effects the accuracy and the computational efficiency. Three rotation parametrizations – the rotational vector, the Argyris tangential vector and the rotational quaternion – are combined with three different numerical time-integration schemes, including classical explicit Runge–Kutta method and the novel midpoint rule proposed here. The key result of the study is the assessment of the integration errors of various parametrization–integration method combinations. In order to assess the errors, we choose a time-dependent function corresponding to a rotational vector, and derive the related exact time-dependent angular velocity. This is then employed in the numerical solution as the data. The resulting numerically integrated approximate rotations are compared with the analytical solution. A novel global solution error norm for discrete solutions given by a set of values at chosen time-points is employed. Several characteristic angular velocity functions, resulting in small, finite and fast oscillating rotations are studied. rotation angular velocity time integrations quaternions Runge-Kutta method midpoint rule rotacije kotna hitrost integracije po času kvaternioni metoda Runge-Kutta metoda midpoint true false false Elsevier Angleški jezik Angleški jezik Neznano 2015-07-10 10:12:48 2015-07-10 10:12:48 2022-11-21 15:49:31 0000-00-00 00:00:00 2011 0 0 Str. 723-733 št. 9 Letn. 42 sept. 2011 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 624.07 0965-9978 10.1016/j.advengsoft.2011.05.010 5478497 34540032 P2011AES.pdf P2011AES.pdf 1 58EB0A4105800B7898D37ACBD455CC9F 622931027993cd7d3ac3aeaed2d80c653451ff27ad51c0c3d897579f2726709c 13d00b03-a1ae-11eb-a523-00155dcfd717 20.500.12556/rul/ffd12e7e-6e3a-42cc-9b05-cd92af21d236 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=85693 Fakulteta za gradbeništvo in geodezijo 0 0 0