Integrating rotation from angular velocity
Zupan, Eva (Author), Saje, Miran (Author)

URLURL - Presentation file, Visit http://drugg.fgg.uni-lj.si/3947/ This link opens in a new window
.pdfPDF - Presentation file, Download (788,56 KB)
MD5: 58EB0A4105800B7898D37ACBD455CC9F

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.

Keywords:rotation, angular velocity, time integrations, quaternions, Runge-Kutta method, midpoint rule
Tipology:1.01 - Original Scientific Article
Organization:FGG - Faculty of Civil and Geodetic Engineering
Number of pages:Str. 723-733
Numbering:Letn. 42, št. 9
ISSN on article:0965-9978
DOI:10.1016/j.advengsoft.2011.05.010 This link opens in a new window
COBISS.SI-ID:5478497 This link opens in a new window
Average score:(0 votes)
Your score:Voting is allowed only to logged in users.
AddThis uses cookies that require your consent. Edit consent...

Record is a part of a journal

Title:Advances in engineering software
Shortened title:Adv. eng. softw.
Publisher:Elsevier Applied Science
COBISS.SI-ID:34540032 This link opens in a new window

Secondary language

Keywords:rotacije, kotna hitrost, integracije po času, kvaternioni, metoda Runge-Kutta, metoda midpoint

Similar documents

Similar works from RUL:
Similar works from other Slovenian collections:


Leave comment

You have to log in to leave a comment.

Comments (0)
0 - 0 / 0
There are no comments!